diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-12-27_941804289/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-12-27_941804289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c1da4427c23ca7f5e8ae53c7411ff3b283eb11e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-12-27_941804289/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 725.0947784421201, + 650.6498811031439, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 723.5947784421201, + 648.0518048917907, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 722.0947784421201, + 645.4537286804373, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 720.5947784421201, + 642.8556524690839, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 719.0947784421201, + 640.2575762577305, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 717.5947784421201, + 637.6595000463772, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 716.0947784421201, + 635.0614238350238, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 714.5947784421201, + 632.4633476236704, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 713.0947784421201, + 629.865271412317, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 711.5947784421201, + 627.2671952009637, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 710.0947784421201, + 624.6691189896103, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 708.5947784421201, + 622.0710427782569, + 45.99494585988853 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 708.5947784421201, + 622.0710427782569, + 45.99494585988853 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 708.5947784421201, + 619.0710427782569, + 45.99494585988853 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948872 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 688.0, + 576.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-17-28_712633417/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-17-28_712633417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27717fafd718b6e959d39fa6f00e43f5a256f9d0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-17-28_712633417/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1691.7147343036784, + -1509.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1689.116658092325, + -1508.2386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1686.5185818809716, + -1506.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1683.9205056696183, + -1505.2386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1681.3224294582649, + -1503.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1678.7243532469115, + -1502.2386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1676.1262770355581, + -1500.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1673.5282008242048, + -1499.2386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1670.9301246128514, + -1497.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1668.332048401498, + -1496.2386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1665.7339721901446, + -1494.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1663.1358959787913, + -1493.2386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1660.537819767438, + -1491.7386145729788, + 46.44291555111169 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1657.9397435560845, + -1490.2386145729788, + 46.44291555111169 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -1476.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-2-58_1386418627/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-2-58_1386418627/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3908360f877b4ceb715a545d396e6d7bc19b032d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-2-58_1386418627/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 18.55937207808934, + 1710.817680580602, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 20.05937207808934, + 1713.4157567919553, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.55937207808934, + 1716.0138330033087, + 63.31400921230732 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 21.55937207808934, + 1716.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 24.157448289442655, + 1717.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 26.75552450079597, + 1719.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 29.353600712149287, + 1720.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 31.951676923502603, + 1722.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 34.54975313485592, + 1723.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 37.147829346209235, + 1725.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 39.74590555756255, + 1726.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 42.34398176891587, + 1728.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 44.94205798026918, + 1729.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 47.5401341916225, + 1731.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 50.138210402975815, + 1732.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 52.73628661432913, + 1734.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 55.33436282568245, + 1735.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 57.93243903703576, + 1737.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 60.53051524838908, + 1738.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.128591459742395, + 1740.0138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 65.72666767109571, + 1741.5138330033087, + 63.31400921230732 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 68.32474388244903, + 1743.0138330033087, + 63.31400921230732 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 1756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-20-22_235745791/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-20-22_235745791/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24bd5d2e73f70678fa2e8a59d1cea7393e8ef4a1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-20-22_235745791/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1425.6730567826164, + -866.7749693909228, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1427.1730567826164, + -864.1768931795696, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1428.6730567826164, + -861.5788169682162, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1430.1730567826164, + -858.9807407568628, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1431.6730567826164, + -856.3826645455094, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1433.1730567826164, + -853.7845883341561, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1434.6730567826164, + -851.1865121228027, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1436.1730567826164, + -848.5884359114493, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1437.6730567826164, + -845.990359700096, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1439.1730567826164, + -843.3922834887426, + 44.411424318705954 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1439.1730567826164, + -843.3922834887426, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1441.7711329939698, + -841.8922834887426, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1444.3692092053232, + -840.3922834887426, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1446.9672854166765, + -838.8922834887426, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1449.56536162803, + -837.3922834887426, + 44.411424318705954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1452.1634378393833, + -835.8922834887426, + 44.411424318705954 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1472.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-28-59_1338299904/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-28-59_1338299904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2602bcdb60b5e1c03a81e8a9865dcfe09a983c95 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-28-59_1338299904/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1416.5906968254528, + -1082.2488096737775, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1418.0906968254528, + -1079.6507334624241, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1419.5906968254528, + -1077.0526572510707, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1421.0906968254528, + -1074.4545810397174, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1422.5906968254528, + -1071.856504828364, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1424.0906968254528, + -1069.2584286170106, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1425.5906968254528, + -1066.6603524056572, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1427.0906968254528, + -1064.0622761943039, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1428.5906968254528, + -1061.4641999829505, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1430.0906968254528, + -1058.8661237715971, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1431.5906968254528, + -1056.2680475602438, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1433.0906968254528, + -1053.6699713488904, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1434.5906968254528, + -1051.071895137537, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1436.0906968254528, + -1048.4738189261836, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1437.5906968254528, + -1045.8757427148303, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1439.0906968254528, + -1043.277666503477, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1440.5906968254528, + -1040.6795902921235, + 68.34490179673696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1442.0906968254528, + -1038.0815140807701, + 68.34490179673696 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1456.0, + -1004.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-33-14_1392740049/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-33-14_1392740049/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fa7e61d7c9c4ae66dd58ff7a0db0d27a7f7f1eb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-33-14_1392740049/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 378.225060217275, + -639.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 375.62698400592166, + -637.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 373.02890779456834, + -636.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 370.430831583215, + -634.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 367.8327553718617, + -633.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 365.2346791605084, + -631.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 362.6366029491551, + -630.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 360.03852673780176, + -628.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 357.44045052644844, + -627.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 354.8423743150951, + -625.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 352.2442981037418, + -624.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 349.6462218923885, + -622.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.0481456810352, + -621.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 344.45006946968186, + -619.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.85199325832855, + -618.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 339.25391704697523, + -616.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 336.6558408356219, + -615.1705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 334.0577646242686, + -613.6705682995417, + 41.962800892395705 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 331.4596884129153, + -612.1705682995417, + 41.962800892395705 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-40-49_1500474762/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-40-49_1500474762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5df12dc24b676476cf3628a82ef9882b1197a991 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-40-49_1500474762/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1437.0056192394688, + -31.487043202944903, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1435.5056192394688, + -34.08511941429822, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1434.0056192394688, + -36.683195625651535, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1432.5056192394688, + -39.28127183700485, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1431.0056192394688, + -41.87934804835817, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1429.5056192394688, + -44.47742425971148, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1428.0056192394688, + -47.0755004710648, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1426.5056192394688, + -49.673576682418116, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1425.0056192394688, + -52.27165289377143, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1423.5056192394688, + -54.86972910512475, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1422.0056192394688, + -57.467805316478064, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1420.5056192394688, + -60.06588152783138, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1419.0056192394688, + -62.663957739184696, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1417.5056192394688, + -65.26203395053801, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1416.0056192394688, + -67.86011016189133, + 46.60592241342501 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1414.5056192394688, + -70.45818637324464, + 46.60592241342501 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + -84.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-47-36_1130698571/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-47-36_1130698571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbd9cac21c1df00f1f97b26e6a4ebc0f8b2151b8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-47-36_1130698571/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1056.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1059.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1062.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1065.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1068.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1071.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1074.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1074.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1074.8361345242934, + -21.81049343838309, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1076.3361345242934, + -19.212417227029775, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1077.8361345242934, + -16.61434101567646, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1079.3361345242934, + -14.016264804323143, + 52.266159936277155 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1079.3361345242934, + -14.016264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1081.9342107356467, + -12.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1084.532286947, + -11.016264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1087.1303631583535, + -9.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1089.7284393697068, + -8.016264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1092.3265155810602, + -6.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1094.9245917924136, + -5.016264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1097.522668003767, + -3.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1100.1207442151203, + -2.016264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1102.7188204264737, + -0.516264804323143, + 52.266159936277155 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1102.7188204264737, + -0.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": -9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1105.7188204264737, + -0.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1108.7188204264737, + -0.516264804323143, + 52.266159936277155 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1111.7188204264737, + -0.516264804323143, + 52.266159936277155 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 12.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-51-11_577721120/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-51-11_577721120/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ce98938342bbf050c321878c7ceedabb2001410 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-51-11_577721120/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -521.4952967604434, + 814.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -524.0933729717967, + 815.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -526.6914491831501, + 817.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -529.2895253945035, + 818.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -531.8876016058568, + 820.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -534.4856778172102, + 821.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -537.0837540285636, + 823.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -539.681830239917, + 824.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -542.2799064512703, + 826.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -544.8779826626237, + 827.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -547.4760588739771, + 829.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -550.0741350853305, + 830.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -552.6722112966838, + 832.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -555.2702875080372, + 833.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -557.8683637193906, + 835.1872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -560.466439930744, + 836.6872879652653, + 61.062756746472154 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -560.466439930744, + 836.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -563.466439930744, + 836.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -566.466439930744, + 836.6872879652653, + 61.062756746472154 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -569.466439930744, + 836.6872879652653, + 61.062756746472154 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -608.0, + 852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-55-27_157272379/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-55-27_157272379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b60c2140cdc7c873338333e31d07afee5b30a81 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_14-55-27_157272379/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1794.3705615493611, + 376.2023916841022, + 67.54358051083278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1797.3705615493611, + 376.2023916841022, + 67.54358051083278 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1800.3705615493611, + 376.2023916841022, + 67.54358051083278 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1856.0, + 360.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-1-53_1527622954/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-1-53_1527622954/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b8d302d7242582b7bfbcf6e16ec4ace907d3fb4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-1-53_1527622954/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1366.497919895061, + 93.21590615619964, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1367.997919895061, + 95.81398236755295, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1369.497919895061, + 98.41205857890627, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1370.997919895061, + 101.01013479025958, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1372.497919895061, + 103.6082110016129, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1373.997919895061, + 106.20628721296622, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1375.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1375.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1375.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1378.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1381.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1384.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1387.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1390.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1393.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1396.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1399.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1402.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1405.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1408.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1411.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1414.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1417.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1420.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1420.497919895061, + 108.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1423.0959961064143, + 107.30436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1425.6940723177677, + 105.80436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1428.292148529121, + 104.30436342431953, + 69.77574294824431 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1430.8902247404744, + 102.80436342431953, + 69.77574294824431 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 108.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-12-26_245798898/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-12-26_245798898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a97d194b8ccf159d7cf5d7dc2e79c32234ba979f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-12-26_245798898/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1731.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1728.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1725.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1722.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1719.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1716.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1713.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1710.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1707.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1707.1155982395162, + 609.945303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1704.5175220281628, + 608.445303680254, + 58.97824795091227 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1701.9194458168095, + 606.945303680254, + 58.97824795091227 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1664.0, + 600.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-13-42_1135771559/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-13-42_1135771559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7be354a3a4650eefbef6998a00124c89be47c764 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-13-42_1135771559/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 722.3324922361144, + -525.4792280103493, + 64.21572068775377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 722.3324922361144, + -522.4792280103493, + 64.21572068775377 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 722.3324922361144, + -519.4792280103493, + 64.21572068775377 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 720.0, + -464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-26-27_1364090032/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-26-27_1364090032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..178b3c871842146bb7316222239c34097dbdd46a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-26-27_1364090032/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1249.5740371819436, + -1087.7145014770406, + 44.07407854510364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1246.5740371819436, + -1087.7145014770406, + 44.07407854510364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1243.5740371819436, + -1087.7145014770406, + 44.07407854510364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1240.5740371819436, + -1087.7145014770406, + 44.07407854510364 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1240.5740371819436, + -1087.7145014770406, + 44.07407854510364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1237.9759609705902, + -1086.2145014770406, + 44.07407854510364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1235.3778847592368, + -1084.7145014770406, + 44.07407854510364 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1232.7798085478835, + -1083.2145014770406, + 44.07407854510364 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1184.0, + -1068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-3-48_1626250262/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-3-48_1626250262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26dbb5ee17224f958261ade1b0b3b6ee8bbd9aed --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-3-48_1626250262/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1198.9286776459453, + -395.90684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1196.330601434592, + -394.40684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1193.7325252232386, + -392.90684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1191.1344490118852, + -391.40684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1188.5363728005318, + -389.90684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1185.9382965891784, + -388.40684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1183.340220377825, + -386.90684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1180.7421441664717, + -385.40684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1178.1440679551183, + -383.90684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1175.545991743765, + -382.40684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1172.9479155324116, + -380.90684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1170.3498393210582, + -379.40684128067375, + 66.02308474814365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1167.7517631097048, + -377.90684128067375, + 66.02308474814365 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + -356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-30-46_672139932/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-30-46_672139932/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f009f0e47ee6002a07b70f4d48fefd34589eaade --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-30-46_672139932/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1767.6558243392565, + -704.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1767.6558243392565, + -707.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1767.6558243392565, + -710.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1767.6558243392565, + -713.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1767.6558243392565, + -716.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1767.6558243392565, + -719.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1767.6558243392565, + -722.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1767.6558243392565, + -725.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1767.6558243392565, + -728.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1767.6558243392565, + -731.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1767.6558243392565, + -734.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1767.6558243392565, + -737.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1767.6558243392565, + -740.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1767.6558243392565, + -743.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1767.6558243392565, + -746.4990089093671, + 62.94368107158908 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1767.6558243392565, + -746.4990089093671, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1766.1558243392565, + -749.0970851207205, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1764.6558243392565, + -751.6951613320739, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1763.1558243392565, + -754.2932375434273, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1761.6558243392565, + -756.8913137547806, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1760.1558243392565, + -759.489389966134, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1758.6558243392565, + -762.0874661774874, + 62.94368107158908 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1757.1558243392565, + -764.6855423888408, + 62.94368107158908 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1752.0, + -788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-42-56_787689126/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-42-56_787689126/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4473562523bf28b2ac0533c9edb84d7f8967c68 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-42-56_787689126/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1078.4731411758669, + -1171.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1078.4731411758669, + -1168.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1078.4731411758669, + -1165.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1078.4731411758669, + -1162.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1078.4731411758669, + -1159.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1078.4731411758669, + -1156.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1078.4731411758669, + -1153.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1078.4731411758669, + -1150.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1078.4731411758669, + -1147.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1078.4731411758669, + -1144.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1078.4731411758669, + -1141.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1078.4731411758669, + -1138.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1078.4731411758669, + -1135.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1078.4731411758669, + -1132.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1078.4731411758669, + -1129.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1078.4731411758669, + -1126.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1078.4731411758669, + -1123.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1078.4731411758669, + -1120.0277599441827, + 58.38898544443754 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1078.4731411758669, + -1120.0277599441827, + 58.38898544443754 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1078.4731411758669, + -1120.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1075.8750649645135, + -1118.5277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1073.2769887531601, + -1117.0277599441827, + 58.38898544443754 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1073.2769887531601, + -1117.0277599441827, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1071.7769887531601, + -1114.4296837328293, + 58.38898544443754 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1070.2769887531601, + -1111.831607521476, + 58.38898544443754 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-46-56_528433890/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-46-56_528433890/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca214d5e05ea7cc2f478397e161d97fb16b50460 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-46-56_528433890/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1632.175364548872, + 199.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1632.175364548872, + 202.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1632.175364548872, + 205.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1632.175364548872, + 208.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1632.175364548872, + 211.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1632.175364548872, + 214.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1632.175364548872, + 217.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1632.175364548872, + 220.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1632.175364548872, + 223.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1632.175364548872, + 226.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1632.175364548872, + 229.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1632.175364548872, + 232.3245264898164, + 54.41387165433237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1632.175364548872, + 235.3245264898164, + 54.41387165433237 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + 264.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-9-20_733450907/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-9-20_733450907/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5224a6e12894a1f22d9b476160505fde560e5215 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_15-9-20_733450907/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1669.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1666.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1663.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1660.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1657.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1654.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1651.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1651.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1651.151286826759, + -374.1791524302581, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1649.651286826759, + -376.77722864161143, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1648.151286826759, + -379.37530485296475, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1646.651286826759, + -381.97338106431806, + 62.0574648011349 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1646.651286826759, + -381.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1644.0532106154055, + -383.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1641.4551344040522, + -384.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1638.8570581926988, + -386.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1636.2589819813454, + -387.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1633.660905769992, + -389.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1631.0628295586387, + -390.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1628.4647533472853, + -392.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1625.866677135932, + -393.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1623.2686009245785, + -395.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1620.6705247132252, + -396.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1618.0724485018718, + -398.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1615.4743722905184, + -399.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1612.876296079165, + -401.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1610.2782198678117, + -402.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1607.6801436564583, + -404.47338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1605.082067445105, + -405.97338106431806, + 62.0574648011349 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1602.4839912337516, + -407.47338106431806, + 62.0574648011349 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1580.0, + -416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-16-31_1994320152/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-16-31_1994320152/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1485a41172230a21210928e988d96823f307774c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-16-31_1994320152/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1355.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1358.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1361.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1364.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1367.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1370.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1373.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1376.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1379.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1382.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1385.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1388.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1391.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1394.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1397.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1397.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.6550621196016, + -164.41282038419487, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1399.1550621196016, + -161.81474417284156, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1400.6550621196016, + -159.21666796148824, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1402.1550621196016, + -156.61859175013493, + 50.35340549274089 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1402.1550621196016, + -156.61859175013493, + 50.35340549274089 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1404.753138330955, + -155.11859175013493, + 50.35340549274089 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1440.0, + -148.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-27-14_1176225844/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-27-14_1176225844/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbcc65e246489b6fa157bedc4621bac248813f9e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-27-14_1176225844/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1479.4764532379652, + -637.3844798909834, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1480.9764532379652, + -639.9825561023367, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1482.4764532379652, + -642.5806323136901, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1483.9764532379652, + -645.1787085250435, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1485.4764532379652, + -647.7767847363968, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1486.9764532379652, + -650.3748609477502, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1488.4764532379652, + -652.9729371591036, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1489.9764532379652, + -655.571013370457, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1491.4764532379652, + -658.1690895818103, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1492.9764532379652, + -660.7671657931637, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1494.4764532379652, + -663.3652420045171, + 55.45965721902778 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1494.4764532379652, + -663.3652420045171, + 55.45965721902778 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1497.0745294493186, + -664.8652420045171, + 55.45965721902778 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1520.0, + -696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-33-8_1077683174/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-33-8_1077683174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abf11546007efdccae7c261d0731a3de6707fa02 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-33-8_1077683174/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1770.474280419865, + 1647.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1770.474280419865, + 1650.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1770.474280419865, + 1653.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1770.474280419865, + 1656.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1770.474280419865, + 1659.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1770.474280419865, + 1662.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1770.474280419865, + 1665.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1770.474280419865, + 1668.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1770.474280419865, + 1671.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1770.474280419865, + 1674.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1770.474280419865, + 1677.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1770.474280419865, + 1680.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1770.474280419865, + 1683.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1770.474280419865, + 1686.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1770.474280419865, + 1689.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1770.474280419865, + 1692.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1770.474280419865, + 1695.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1770.474280419865, + 1698.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1770.474280419865, + 1701.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1770.474280419865, + 1704.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1770.474280419865, + 1707.7352358727771, + 42.73660472229767 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1770.474280419865, + 1707.7352358727771, + 42.73660472229767 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1770.474280419865, + 1707.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1773.0723566312183, + 1709.2352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1775.6704328425717, + 1710.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1778.268509053925, + 1712.2352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1780.8665852652784, + 1713.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1783.4646614766318, + 1715.2352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1786.0627376879852, + 1716.7352358727771, + 42.73660472229767 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1788.6608138993386, + 1718.2352358727771, + 42.73660472229767 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1796.0, + 1744.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-35-22_518434573/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-35-22_518434573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acf2b572bdd3eb9d700b1d836b27dd4a6d165433 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-35-22_518434573/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.1082742323088, + 1118.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 262.1082742323088, + 1115.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 262.1082742323088, + 1112.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 262.1082742323088, + 1109.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 262.1082742323088, + 1106.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 262.1082742323088, + 1103.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 262.1082742323088, + 1100.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.1082742323088, + 1097.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.1082742323088, + 1094.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 262.1082742323088, + 1091.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 262.1082742323088, + 1088.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.1082742323088, + 1085.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 262.1082742323088, + 1082.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 262.1082742323088, + 1079.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 262.1082742323088, + 1076.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 262.1082742323088, + 1073.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.1082742323088, + 1070.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 262.1082742323088, + 1067.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 262.1082742323088, + 1064.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 262.1082742323088, + 1061.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 262.1082742323088, + 1058.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 262.1082742323088, + 1055.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 262.1082742323088, + 1052.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 262.1082742323088, + 1049.914079618344, + 66.24106408403085 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 262.1082742323088, + 1049.914079618344, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 260.6082742323088, + 1047.3160034069906, + 66.24106408403085 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 259.1082742323088, + 1044.7179271956372, + 66.24106408403085 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 256.0, + 1020.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-36-48_698312496/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-36-48_698312496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7b143504b4a4d7ac01aca69544cff583ce8c311 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-36-48_698312496/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1698.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1701.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1704.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1707.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1710.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1713.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1716.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1719.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1722.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1725.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1728.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1731.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1734.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1737.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1740.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1740.081153617873, + -746.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1742.6792298292264, + -747.8750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1745.2773060405798, + -749.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1747.8753822519332, + -750.8750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1750.4734584632865, + -752.3750686217269, + 50.651561617546726 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1753.07153467464, + -753.8750686217269, + 50.651561617546726 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1780.0, + -760.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-2_505593010/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-2_505593010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a6cc727436c4c5ab38bc309cf9a72989c804739 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-42-2_505593010/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -760.7433929270784, + -1094.6545900078456, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -762.2433929270784, + -1097.252666219199, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -763.7433929270784, + -1099.8507424305524, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -765.2433929270784, + -1102.4488186419057, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -766.7433929270784, + -1105.0468948532591, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -768.2433929270784, + -1107.6449710646125, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -769.7433929270784, + -1110.2430472759659, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -771.2433929270784, + -1112.8411234873192, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -772.7433929270784, + -1115.4391996986726, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -774.2433929270784, + -1118.037275910026, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.7433929270784, + -1120.6353521213794, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -777.2433929270784, + -1123.2334283327327, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -778.7433929270784, + -1125.831504544086, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -780.2433929270784, + -1128.4295807554395, + 46.70089799770544 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -780.2433929270784, + -1128.4295807554395, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -780.2433929270784, + -1131.4295807554395, + 46.70089799770544 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -780.2433929270784, + -1134.4295807554395, + 46.70089799770544 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1168.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-44-9_572132557/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-44-9_572132557/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72d37c56eb3e675c2d3171324c6186738ca98948 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-44-9_572132557/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1071.0624447636337, + 1581.9948954081626, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1069.5624447636337, + 1584.592971619516, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1068.0624447636337, + 1587.1910478308694, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1066.5624447636337, + 1589.7891240422227, + 66.99878314590745 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1066.5624447636337, + 1589.7891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1063.9643685522803, + 1591.2891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1061.366292340927, + 1592.7891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1058.7682161295736, + 1594.2891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1056.1701399182202, + 1595.7891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1053.5720637068669, + 1597.2891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1050.9739874955135, + 1598.7891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1048.37591128416, + 1600.2891240422227, + 66.99878314590745 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1045.7778350728067, + 1601.7891240422227, + 66.99878314590745 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1016.0, + 1632.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-47-3_2115227667/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-47-3_2115227667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8b84e942166b6ae31fd7553df8577bc934eeb4d1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-47-3_2115227667/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -397.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -394.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -391.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -388.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -385.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -382.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -379.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -376.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -373.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -370.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -367.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -364.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -364.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -364.21041638012025, + 1625.9052365813175, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -362.71041638012025, + 1628.5033127926708, + 54.678465184493994 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -361.21041638012025, + 1631.1013890040242, + 54.678465184493994 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.0, + 1640.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-49-38_213952386/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-49-38_213952386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a857441f0ce4b849fb1f998383d14ac212a6646 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-49-38_213952386/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 519.7037381746253, + -70.4989327001634, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 518.2037381746253, + -73.09700891151671, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 516.7037381746253, + -75.69508512287003, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 515.2037381746253, + -78.29316133422334, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 513.7037381746253, + -80.89123754557666, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 512.2037381746253, + -83.48931375692997, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 510.7037381746253, + -86.08738996828329, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 509.2037381746253, + -88.6854661796366, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 507.7037381746253, + -91.28354239098992, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 506.2037381746253, + -93.88161860234324, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 504.7037381746253, + -96.47969481369655, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 503.2037381746253, + -99.07777102504987, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 501.7037381746253, + -101.67584723640319, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 500.2037381746253, + -104.2739234477565, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 498.7037381746253, + -106.87199965910982, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 497.2037381746253, + -109.47007587046313, + 63.04066859362369 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 495.7037381746253, + -112.06815208181645, + 63.04066859362369 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-6-40_672563970/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-6-40_672563970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81ef1c3dbb60bbfaf0e1523bc16a7bf2a9e0805a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_16-6-40_672563970/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1675.2775796817104, + 1244.1034573580725, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1672.2775796817104, + 1244.1034573580725, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1669.2775796817104, + 1244.1034573580725, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1666.2775796817104, + 1244.1034573580725, + 66.44840730162063 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1666.2775796817104, + 1244.1034573580725, + 66.44840730162063 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1666.2775796817104, + 1244.1034573580725, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1664.7775796817104, + 1241.5053811467192, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1663.2775796817104, + 1238.9073049353658, + 66.44840730162063 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1663.2775796817104, + 1238.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1660.679503470357, + 1237.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1658.0814272590037, + 1235.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1655.4833510476503, + 1234.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1652.885274836297, + 1232.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1650.2871986249436, + 1231.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1647.6891224135902, + 1229.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1645.0910462022368, + 1228.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1642.4929699908835, + 1226.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1639.89489377953, + 1225.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1637.2968175681767, + 1223.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1634.6987413568233, + 1222.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1632.10066514547, + 1220.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1629.5025889341166, + 1219.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1626.9045127227632, + 1217.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1624.3064365114099, + 1216.4073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1621.7083603000565, + 1214.9073049353658, + 66.44840730162063 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1619.110284088703, + 1213.4073049353658, + 66.44840730162063 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + 1196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-12-49_1569115921/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-12-49_1569115921/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f62a145191671e40ccdba1c1ffb7dd48fce79b3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-12-49_1569115921/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 580.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 583.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 586.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 589.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 592.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 595.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 598.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 601.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 604.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 607.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 607.0176199549798, + 370.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 609.615696166333, + 368.6753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 612.2137723776864, + 367.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 614.8118485890398, + 365.6753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 617.4099248003931, + 364.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 620.0080010117465, + 362.6753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 622.6060772230999, + 361.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 625.2041534344532, + 359.6753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 627.8022296458066, + 358.1753396640573, + 46.02325589882541 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 630.40030585716, + 356.6753396640573, + 46.02325589882541 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + 348.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-22-1_13798878/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-22-1_13798878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..383fd89473c1f416c5af7aeaa26f4409df35582f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-22-1_13798878/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1775.827280039842, + 844.8784591403918, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1777.327280039842, + 842.2803829290385, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1778.827280039842, + 839.6823067176852, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1780.327280039842, + 837.0842305063318, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1781.827280039842, + 834.4861542949784, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1783.327280039842, + 831.888078083625, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1784.827280039842, + 829.2900018722717, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1786.327280039842, + 826.6919256609183, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1787.827280039842, + 824.0938494495649, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1789.327280039842, + 821.4957732382115, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1790.827280039842, + 818.8976970268582, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1792.327280039842, + 816.2996208155048, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1793.827280039842, + 813.7015446041514, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1795.327280039842, + 811.103468392798, + 59.037677368281805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1796.827280039842, + 808.5053921814447, + 59.037677368281805 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 772.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-35-47_2037335344/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-35-47_2037335344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31878db0aa94dce7eefabcb52594f32743a6956f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-35-47_2037335344/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1221.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1218.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1215.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1212.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1209.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1206.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1203.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1200.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1197.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1194.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1191.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1191.7761400879854, + -815.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1189.178063876632, + -814.0497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1186.5799876652786, + -812.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1183.9819114539252, + -811.0497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1181.3838352425719, + -809.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1178.7857590312185, + -808.0497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1176.1876828198651, + -806.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1173.5896066085118, + -805.0497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1170.9915303971584, + -803.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1168.393454185805, + -802.0497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1165.7953779744516, + -800.5497699595318, + 68.00610635259365 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1163.1973017630983, + -799.0497699595318, + 68.00610635259365 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1148.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-39-55_1848096107/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-39-55_1848096107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e4d77933c2e74f2206f6c254c5bb12be20f3ab9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-39-55_1848096107/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1255.0951927037893, + 537.2419588250135, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1256.5951927037893, + 539.8400350363668, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.0951927037893, + 542.4381112477201, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1259.5951927037893, + 545.0361874590735, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1261.0951927037893, + 547.6342636704269, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1262.5951927037893, + 550.2323398817803, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1264.0951927037893, + 552.8304160931336, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1265.5951927037893, + 555.428492304487, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1267.0951927037893, + 558.0265685158404, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1268.5951927037893, + 560.6246447271938, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1270.0951927037893, + 563.2227209385471, + 44.34103379792922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1271.5951927037893, + 565.8207971499005, + 44.34103379792922 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1288.0, + 604.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-43-28_1850612763/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-43-28_1850612763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15e933eeeddf68c2156376be47e09ceaff4abf52 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-43-28_1850612763/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1619.531832074867, + -996.0990367361784, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1618.031832074867, + -993.5009605248251, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1616.531832074867, + -990.9028843134718, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1615.031832074867, + -988.3048081021184, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1613.531832074867, + -985.706731890765, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1612.031832074867, + -983.1086556794116, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1610.531832074867, + -980.5105794680583, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1609.031832074867, + -977.9125032567049, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1607.531832074867, + -975.3144270453515, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1606.031832074867, + -972.7163508339981, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1604.531832074867, + -970.1182746226448, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1603.031832074867, + -967.5201984112914, + 61.91618479588671 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1603.031832074867, + -967.5201984112914, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1603.031832074867, + -964.5201984112914, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1603.031832074867, + -961.5201984112914, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1603.031832074867, + -958.5201984112914, + 61.91618479588671 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1603.031832074867, + -955.5201984112914, + 61.91618479588671 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-48-9_234262547/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-48-9_234262547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa4230bd260dac2b5576dd12be7cb4a9cc22196f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-48-9_234262547/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1676.6601092748963, + 1264.0264679131542, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1675.1601092748963, + 1261.4283917018008, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1673.6601092748963, + 1258.8303154904474, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1672.1601092748963, + 1256.232239279094, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1670.6601092748963, + 1253.6341630677407, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1669.1601092748963, + 1251.0360868563873, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1667.6601092748963, + 1248.438010645034, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1666.1601092748963, + 1245.8399344336806, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1664.6601092748963, + 1243.2418582223272, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1663.1601092748963, + 1240.6437820109738, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1661.6601092748963, + 1238.0457057996205, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1660.1601092748963, + 1235.447629588267, + 56.483318995087984 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1660.1601092748963, + 1235.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1660.1601092748963, + 1232.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1660.1601092748963, + 1229.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1660.1601092748963, + 1226.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1660.1601092748963, + 1223.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1660.1601092748963, + 1220.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1660.1601092748963, + 1217.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1660.1601092748963, + 1214.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1660.1601092748963, + 1211.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1660.1601092748963, + 1208.447629588267, + 56.483318995087984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1660.1601092748963, + 1205.447629588267, + 56.483318995087984 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1652.0, + 1172.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-6-39_1857300821/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-6-39_1857300821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e40ff4e8c4231f4ccf86d71febc9eeb103115d4b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_17-6-39_1857300821/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -117.7983828330075, + 482.7596275490362, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -116.2983828330075, + 485.35770376038954, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -114.7983828330075, + 487.95577997174286, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -113.2983828330075, + 490.5538561830962, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -111.7983828330075, + 493.1519323944495, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.2983828330075, + 495.7500086058028, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -108.7983828330075, + 498.3480848171561, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.2983828330075, + 500.94616102850944, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.7983828330075, + 503.54423723986275, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -104.2983828330075, + 506.14231345121607, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -102.7983828330075, + 508.7403896625694, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -101.2983828330075, + 511.3384658739227, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -99.7983828330075, + 513.936542085276, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -98.2983828330075, + 516.5346182966293, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -96.7983828330075, + 519.1326945079827, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -95.2983828330075, + 521.7307707193361, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.7983828330075, + 524.3288469306895, + 55.5155868053363 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -93.7983828330075, + 524.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -93.7983828330075, + 527.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -93.7983828330075, + 530.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -93.7983828330075, + 533.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -93.7983828330075, + 536.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -93.7983828330075, + 539.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -93.7983828330075, + 542.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -93.7983828330075, + 545.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -93.7983828330075, + 548.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -93.7983828330075, + 551.3288469306895, + 55.5155868053363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -93.7983828330075, + 554.3288469306895, + 55.5155868053363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-0-46_1704572553/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-0-46_1704572553/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..100da33436d3b04c35bf9e06df3c4b425f91a0cc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-0-46_1704572553/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1364.9257804921467, + -433.81699712992724, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1366.4257804921467, + -431.21892091857393, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1367.9257804921467, + -428.6208447072206, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1369.4257804921467, + -426.0227684958673, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1370.9257804921467, + -423.424692284514, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1372.4257804921467, + -420.82661607316066, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1373.9257804921467, + -418.22853986180735, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1375.4257804921467, + -415.63046365045403, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1376.9257804921467, + -413.0323874391007, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1378.4257804921467, + -410.4343112277474, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1379.9257804921467, + -407.8362350163941, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1381.4257804921467, + -405.23815880504077, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1382.9257804921467, + -402.64008259368745, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1384.4257804921467, + -400.04200638233414, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1385.9257804921467, + -397.4439301709808, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1387.4257804921467, + -394.8458539596275, + 54.18528560257174 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1388.9257804921467, + -392.2477777482742, + 54.18528560257174 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-1-39_703955951/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-1-39_703955951/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..768977487434dbc7a75bc4d2741fdfab2c7beffe --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-1-39_703955951/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -660.5661736010737, + 899.1904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -657.9680973897205, + 897.6904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -655.3700211783671, + 896.1904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -652.7719449670137, + 894.6904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -650.1738687556604, + 893.1904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -647.575792544307, + 891.6904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -644.9777163329536, + 890.1904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.3796401216002, + 888.6904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -639.7815639102469, + 887.1904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -637.1834876988935, + 885.6904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.5854114875401, + 884.1904166697109, + 40.85868591534962 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -634.5854114875401, + 884.1904166697109, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -633.0854114875401, + 881.5923404583575, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -631.5854114875401, + 878.9942642470041, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -630.0854114875401, + 876.3961880356508, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -628.5854114875401, + 873.7981118242974, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -627.0854114875401, + 871.200035612944, + 40.85868591534962 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -625.5854114875401, + 868.6019594015906, + 40.85868591534962 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -608.0, + 852.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-20-41_1933084303/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-20-41_1933084303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d21e994cb5e7459c2ab8b1d58cb8f33102ab3c2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-20-41_1933084303/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 895.8120761683178, + 791.6605129757552, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 894.3120761683178, + 794.2585891871086, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 892.8120761683178, + 796.8566653984619, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 891.3120761683178, + 799.4547416098153, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 889.8120761683178, + 802.0528178211687, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 888.3120761683178, + 804.650894032522, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 886.8120761683178, + 807.2489702438754, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 885.3120761683178, + 809.8470464552288, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 883.8120761683178, + 812.4451226665822, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 882.3120761683178, + 815.0431988779355, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 880.8120761683178, + 817.6412750892889, + 41.09100116151758 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 880.8120761683178, + 817.6412750892889, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 880.8120761683178, + 820.6412750892889, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 880.8120761683178, + 823.6412750892889, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 880.8120761683178, + 826.6412750892889, + 41.09100116151758 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 880.8120761683178, + 829.6412750892889, + 41.09100116151758 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + 856.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-21-12_1098193842/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-21-12_1098193842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13e5712c2a38d4e606b7405814e589a31d1f3d26 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-21-12_1098193842/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -293.3271012310496, + -1599.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -293.3271012310496, + -1596.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -293.3271012310496, + -1593.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -293.3271012310496, + -1590.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -293.3271012310496, + -1587.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -293.3271012310496, + -1584.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -293.3271012310496, + -1581.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -293.3271012310496, + -1578.7564041862684, + 65.16888756145566 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -293.3271012310496, + -1578.7564041862684, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -291.8271012310496, + -1576.158327974915, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -290.3271012310496, + -1573.5602517635616, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -288.8271012310496, + -1570.9621755522082, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -287.3271012310496, + -1568.3640993408549, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -285.8271012310496, + -1565.7660231295015, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.3271012310496, + -1563.1679469181481, + 65.16888756145566 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -282.8271012310496, + -1560.5698707067947, + 65.16888756145566 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.0, + -1536.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-23-29_1456748696/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-23-29_1456748696/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db905031787c6e8ca869aa348cf7ae0fca7b8a38 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-23-29_1456748696/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1544.0709551150478, + -824.4645511172441, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1545.5709551150478, + -821.8664749058908, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1547.0709551150478, + -819.2683986945374, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1548.5709551150478, + -816.670322483184, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1550.0709551150478, + -814.0722462718306, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1551.5709551150478, + -811.4741700604773, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1553.0709551150478, + -808.8760938491239, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1554.5709551150478, + -806.2780176377705, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1556.0709551150478, + -803.6799414264171, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1557.5709551150478, + -801.0818652150638, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1559.0709551150478, + -798.4837890037104, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1560.5709551150478, + -795.885712792357, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1562.0709551150478, + -793.2876365810037, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1563.5709551150478, + -790.6895603696503, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1565.0709551150478, + -788.0914841582969, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1566.5709551150478, + -785.4934079469435, + 59.31430868666342 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1566.5709551150478, + -785.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1566.5709551150478, + -782.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1566.5709551150478, + -779.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1566.5709551150478, + -776.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1566.5709551150478, + -773.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1566.5709551150478, + -770.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1566.5709551150478, + -767.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1566.5709551150478, + -764.4934079469435, + 59.31430868666342 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1566.5709551150478, + -761.4934079469435, + 59.31430868666342 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -732.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-24-6_1813511382/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-24-6_1813511382/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ae5902a7fb8db9875f2851a9e25727a95fd70f2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-24-6_1813511382/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1526.4742214401258, + 111.79228286676071, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1524.9742214401258, + 114.39035907811403, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1523.4742214401258, + 116.98843528946735, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1521.9742214401258, + 119.58651150082066, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1520.4742214401258, + 122.18458771217398, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1518.9742214401258, + 124.7826639235273, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1517.4742214401258, + 127.38074013488061, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1515.9742214401258, + 129.97881634623394, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1514.4742214401258, + 132.57689255758726, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1512.9742214401258, + 135.17496876894057, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1511.4742214401258, + 137.7730449802939, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1509.9742214401258, + 140.3711211916472, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1508.4742214401258, + 142.96919740300052, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1506.9742214401258, + 145.56727361435384, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1505.4742214401258, + 148.16534982570715, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1503.9742214401258, + 150.76342603706047, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1502.4742214401258, + 153.36150224841379, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1500.9742214401258, + 155.9595784597671, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1499.4742214401258, + 158.55765467112042, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1497.9742214401258, + 161.15573088247373, + 49.73466155337523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1496.4742214401258, + 163.75380709382705, + 49.73466155337523 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1480.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-26-2_1731563037/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-26-2_1731563037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f43e5f4e4e55374248921bc04657270ceb2478c1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-26-2_1731563037/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1728.0426295747761, + -592.2861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1730.6407057861295, + -590.7861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1733.2387819974829, + -589.2861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1735.8368582088362, + -587.7861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1738.4349344201896, + -586.2861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1741.033010631543, + -584.7861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1743.6310868428964, + -583.2861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1746.2291630542497, + -581.7861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1748.827239265603, + -580.2861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1751.4253154769565, + -578.7861359624287, + 45.776764595418165 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1751.4253154769565, + -578.7861359624287, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1752.9253154769565, + -576.1880597510753, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1754.4253154769565, + -573.589983539722, + 45.776764595418165 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1755.9253154769565, + -570.9919073283686, + 45.776764595418165 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1784.0, + -548.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-32-17_382926234/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-32-17_382926234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f7b7d56f56d27d63805f1043c884a3e60efb3ae --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-32-17_382926234/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 553.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 556.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 559.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 562.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 565.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 568.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 571.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 574.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 577.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 580.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 583.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 586.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 589.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 589.7445637978603, + 770.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 592.3426400092137, + 769.3428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 594.9407162205671, + 767.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 597.5387924319205, + 766.3428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 600.1368686432738, + 764.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 602.7349448546272, + 763.3428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 605.3330210659806, + 761.8428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 607.931097277334, + 760.3428823440526, + 47.091758838307065 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 610.5291734886873, + 758.8428823440526, + 47.091758838307065 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 628.0, + 756.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-33-39_1435525339/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-33-39_1435525339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..965133e5e1dda44391eef7c27e3986535c3dfabb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-33-39_1435525339/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1483.5739876964283, + -615.3576633339441, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1485.0739876964283, + -617.9557395452973, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1486.5739876964283, + -620.5538157566507, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1488.0739876964283, + -623.1518919680041, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1489.5739876964283, + -625.7499681793574, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1491.0739876964283, + -628.3480443907108, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1492.5739876964283, + -630.9461206020642, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1494.0739876964283, + -633.5441968134176, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1495.5739876964283, + -636.1422730247709, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1497.0739876964283, + -638.7403492361243, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1498.5739876964283, + -641.3384254474777, + 52.71131525874982 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1498.5739876964283, + -641.3384254474777, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1498.5739876964283, + -644.3384254474777, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1498.5739876964283, + -647.3384254474777, + 52.71131525874982 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1498.5739876964283, + -650.3384254474777, + 52.71131525874982 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1520.0, + -696.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-40-7_340563072/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-40-7_340563072/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4241b94a4651c21ed63558d9b3f46e28663e93e6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-40-7_340563072/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1246.2283287064115, + -1125.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1246.2283287064115, + -1122.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1246.2283287064115, + -1119.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1246.2283287064115, + -1116.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1246.2283287064115, + -1113.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1246.2283287064115, + -1110.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1246.2283287064115, + -1107.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1246.2283287064115, + -1104.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1246.2283287064115, + -1101.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1246.2283287064115, + -1098.4673622343798, + 59.11061148263029 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1246.2283287064115, + -1098.4673622343798, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1247.7283287064115, + -1095.8692860230265, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1249.2283287064115, + -1093.271209811673, + 59.11061148263029 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1250.7283287064115, + -1090.6731336003197, + 59.11061148263029 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -1056.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-5-58_1457880381/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-5-58_1457880381/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d4b4ae9af6d19871f7b1000f4daa23353aa58bb --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-5-58_1457880381/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1563.1796185888481, + 1242.3230109986616, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1560.1796185888481, + 1242.3230109986616, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1557.1796185888481, + 1242.3230109986616, + 42.32648118551398 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1557.1796185888481, + 1242.3230109986616, + 42.32648118551398 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1557.1796185888481, + 1242.3230109986616, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1555.6796185888481, + 1239.7249347873083, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1554.1796185888481, + 1237.1268585759549, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1552.6796185888481, + 1234.5287823646015, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1551.1796185888481, + 1231.9307061532481, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1549.6796185888481, + 1229.3326299418948, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1548.1796185888481, + 1226.7345537305414, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1546.6796185888481, + 1224.136477519188, + 42.32648118551398 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1545.1796185888481, + 1221.5384013078346, + 42.32648118551398 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1508.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-50-26_1292850339/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-50-26_1292850339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e63306a627b7cc9e78bfb703e1a9e070ede8280 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-50-26_1292850339/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1517.222407080557, + -1005.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1517.222407080557, + -1002.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1517.222407080557, + -999.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1517.222407080557, + -996.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1517.222407080557, + -993.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1517.222407080557, + -990.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1517.222407080557, + -987.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1517.222407080557, + -984.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1517.222407080557, + -981.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1517.222407080557, + -978.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1517.222407080557, + -975.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1517.222407080557, + -972.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1517.222407080557, + -969.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1517.222407080557, + -966.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1517.222407080557, + -963.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1517.222407080557, + -960.9369558730591, + 60.401769722167664 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1517.222407080557, + -960.9369558730591, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1518.722407080557, + -958.3388796617057, + 60.401769722167664 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1520.222407080557, + -955.7408034503524, + 60.401769722167664 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1524.0, + -932.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-56-11_582972798/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-56-11_582972798/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aca63a72fbf9d2f0e46d357e42c4f646ff05aa8f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-56-11_582972798/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1164.7477080903193, + -1275.4170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1162.149631878966, + -1276.9170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1159.5515556676125, + -1278.4170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1156.9534794562592, + -1279.9170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1154.3554032449058, + -1281.4170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1151.7573270335524, + -1282.9170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1149.159250822199, + -1284.4170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1146.5611746108457, + -1285.9170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1143.9630983994923, + -1287.4170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1141.365022188139, + -1288.9170029542122, + 49.78827548815029 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1141.365022188139, + -1288.9170029542122, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1139.865022188139, + -1291.5150791655656, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1138.365022188139, + -1294.113155376919, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1136.865022188139, + -1296.7112315882723, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1135.365022188139, + -1299.3093077996257, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1133.865022188139, + -1301.907384010979, + 49.78827548815029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1132.365022188139, + -1304.5054602223324, + 49.78827548815029 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1336.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-57-12_1527793660/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-57-12_1527793660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b7276045ba3a05a208ef0e3134f9f3be41731cb5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-57-12_1527793660/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 823.5618322589141, + -1212.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 823.5618322589141, + -1215.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 823.5618322589141, + -1218.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 823.5618322589141, + -1221.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 823.5618322589141, + -1224.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 823.5618322589141, + -1227.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 823.5618322589141, + -1230.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 823.5618322589141, + -1233.063407018016, + 56.46549463668304 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 823.5618322589141, + -1233.063407018016, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 822.0618322589141, + -1235.6614832293694, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 820.5618322589141, + -1238.2595594407228, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 819.0618322589141, + -1240.8576356520762, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 817.5618322589141, + -1243.4557118634295, + 56.46549463668304 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 816.0618322589141, + -1246.053788074783, + 56.46549463668304 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + -1304.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-7-35_1048938329/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-7-35_1048938329/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c8d24d96c91b3fcd2b919022a73d7c1eacfe386 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_18-7-35_1048938329/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1427.886585374374, + 756.8238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1430.4846615857273, + 758.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1433.0827377970807, + 759.8238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1435.680814008434, + 761.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1438.2788902197874, + 762.8238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1440.8769664311408, + 764.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1443.4750426424941, + 765.8238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1446.0731188538475, + 767.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1448.671195065201, + 768.8238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1451.2692712765543, + 770.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1453.8673474879076, + 771.8238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1456.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1456.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1459.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1462.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1465.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1468.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1471.465423699261, + 773.3238077322737, + 65.44607889017163 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1516.0, + 788.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-17-23_1182176620/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-17-23_1182176620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc9efd7ce1317ce05fb3f60c4dda0b4f138ff192 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-17-23_1182176620/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1017.03749772328, + 1477.6754789138452, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1015.53749772328, + 1475.0774027024918, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1014.03749772328, + 1472.4793264911384, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1012.53749772328, + 1469.881250279785, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1011.03749772328, + 1467.2831740684317, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1009.53749772328, + 1464.6850978570783, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1008.03749772328, + 1462.087021645725, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1006.53749772328, + 1459.4889454343715, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1005.03749772328, + 1456.8908692230182, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1003.53749772328, + 1454.2927930116648, + 68.46955165982834 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1003.53749772328, + 1454.2927930116648, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1000.9394215119266, + 1452.7927930116648, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -998.3413453005733, + 1451.2927930116648, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -995.7432690892199, + 1449.7927930116648, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -993.1451928778665, + 1448.2927930116648, + 68.46955165982834 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -990.5471166665131, + 1446.7927930116648, + 68.46955165982834 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -960.0, + 1416.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-20-0_709606368/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-20-0_709606368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d934fcba739b0875c9373eec6f3b69642cf296f6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-20-0_709606368/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 528.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 531.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 534.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 537.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 540.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 543.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 546.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 549.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 552.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 555.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 558.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 561.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 564.224521657987, + 561.0736989827777, + 62.652876772486024 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 596.0, + 560.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-26-26_1820042348/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-26-26_1820042348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa25091ae19b07c48a1b83d235270a5fb9142cda --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-26-26_1820042348/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 599.153045425953, + -546.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 601.7511216373064, + -547.5339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 604.3491978486597, + -549.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 606.9472740600131, + -550.5339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 609.5453502713665, + -552.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 612.1434264827199, + -553.5339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 614.7415026940732, + -555.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 617.3395789054266, + -556.5339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 619.93765511678, + -558.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 622.5357313281334, + -559.5339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 625.1338075394867, + -561.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 627.7318837508401, + -562.5339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 630.3299599621935, + -564.0339974030262, + 67.96315088808399 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 632.9280361735468, + -565.5339974030262, + 67.96315088808399 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + -580.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-27-45_1063880569/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-27-45_1063880569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2d184a4bd639fcbd60578c18f436ce41038e75b6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-27-45_1063880569/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 880.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 883.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 886.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 889.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 892.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 895.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 898.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 901.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 904.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 907.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 910.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 913.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 916.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 916.2797331637521, + -1144.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 918.8778093751055, + -1146.084693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 921.4758855864588, + -1147.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 924.0739617978122, + -1149.084693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 926.6720380091656, + -1150.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 929.270114220519, + -1152.084693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 931.8681904318723, + -1153.584693364003, + 51.384155728299824 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 931.8681904318723, + -1153.584693364003, + 51.384155728299824 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 934.8681904318723, + -1153.584693364003, + 51.384155728299824 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 956.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-30-53_1656241707/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-30-53_1656241707/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88b2a13c484f6e040102afe3ec9e342f92f84026 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-30-53_1656241707/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 184.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 187.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 205.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 211.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 214.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 214.87154891159008, + 790.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 217.4696251229434, + 788.8335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 220.06770133429671, + 787.3335709371205, + 67.13784828449909 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 222.66577754565003, + 785.8335709371205, + 67.13784828449909 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 252.0, + 780.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-31-40_233233021/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-31-40_233233021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30b59a800217a30b297fc9254af6a4dae303de60 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-31-40_233233021/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1669.7024324238678, + 376.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1669.7024324238678, + 373.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1669.7024324238678, + 370.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1669.7024324238678, + 367.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1669.7024324238678, + 364.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1669.7024324238678, + 361.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1669.7024324238678, + 358.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1669.7024324238678, + 355.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1669.7024324238678, + 352.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1669.7024324238678, + 349.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1669.7024324238678, + 346.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1669.7024324238678, + 343.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1669.7024324238678, + 340.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1669.7024324238678, + 337.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1669.7024324238678, + 334.86683687020263, + 65.20428400301236 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1669.7024324238678, + 334.86683687020263, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1668.2024324238678, + 332.2687606588493, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1666.7024324238678, + 329.670684447496, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1665.2024324238678, + 327.0726082361427, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1663.7024324238678, + 324.47453202478937, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1662.2024324238678, + 321.87645581343605, + 65.20428400301236 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1662.2024324238678, + 321.87645581343605, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1662.2024324238678, + 318.87645581343605, + 65.20428400301236 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1662.2024324238678, + 315.87645581343605, + 65.20428400301236 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1660.0, + 300.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-38-54_365862802/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-38-54_365862802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd36e3db774c392940b11eae3484c9572190bea0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-38-54_365862802/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 442.4267628651405, + -892.7210708955791, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 440.9267628651405, + -895.3191471069324, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.4267628651405, + -897.9172233182858, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.9267628651405, + -900.5152995296392, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 436.4267628651405, + -903.1133757409925, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 434.9267628651405, + -905.7114519523459, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 433.4267628651405, + -908.3095281636993, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 431.9267628651405, + -910.9076043750526, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 430.4267628651405, + -913.505680586406, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 428.9267628651405, + -916.1037567977594, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 427.4267628651405, + -918.7018330091128, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.9267628651405, + -921.2999092204661, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 424.4267628651405, + -923.8979854318195, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 422.9267628651405, + -926.4960616431729, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 421.4267628651405, + -929.0941378545263, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 419.9267628651405, + -931.6922140658796, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 418.4267628651405, + -934.290290277233, + 59.95957690375279 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 418.4267628651405, + -934.290290277233, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.8286866537872, + -935.790290277233, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 413.2306104424339, + -937.290290277233, + 59.95957690375279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 410.63253423108057, + -938.790290277233, + 59.95957690375279 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-52-10_1460674641/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-52-10_1460674641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f993cbb799dceda3141ee41e94a6dde1a9c6e8f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-52-10_1460674641/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 649.9176252613282, + -427.4434016973081, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 652.9176252613282, + -427.4434016973081, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 655.9176252613282, + -427.4434016973081, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 658.9176252613282, + -427.4434016973081, + 46.17964725575203 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 658.9176252613282, + -427.4434016973081, + 46.17964725575203 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 658.9176252613282, + -427.4434016973081, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 660.4176252613282, + -430.0414779086614, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 661.9176252613282, + -432.63955412001474, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 663.4176252613282, + -435.23763033136805, + 46.17964725575203 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 663.4176252613282, + -435.23763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 666.0157014726815, + -436.73763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 668.6137776840349, + -438.23763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 671.2118538953882, + -439.73763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 673.8099301067416, + -441.23763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 676.408006318095, + -442.73763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 679.0060825294483, + -444.23763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 681.6041587408017, + -445.73763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 684.2022349521551, + -447.23763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 686.8003111635085, + -448.73763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 689.3983873748618, + -450.23763033136805, + 46.17964725575203 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 689.3983873748618, + -450.23763033136805, + 46.17964725575203 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 692.3983873748618, + -450.23763033136805, + 46.17964725575203 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 720.0, + -464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-53-45_481387902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-53-45_481387902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be5923c5de7f4ce6335b70d64c6794c290e220fe --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-53-45_481387902/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1118.1388969266604, + -378.93704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1115.540820715307, + -377.43704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1112.9427445039537, + -375.93704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1110.3446682926003, + -374.43704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1107.746592081247, + -372.93704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1105.1485158698936, + -371.43704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1102.5504396585402, + -369.93704590513784, + 52.147288636791764 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1102.5504396585402, + -369.93704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1099.5504396585402, + -369.93704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1096.5504396585402, + -369.93704590513784, + 52.147288636791764 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1093.5504396585402, + -369.93704590513784, + 52.147288636791764 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1052.0, + -356.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-55-31_511583958/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-55-31_511583958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db679a4cb2d5e650fbdf36152444f0f3f3da2e68 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-55-31_511583958/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1615.6610064979625, + 1118.2422290797558, + 63.57474309457649 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1613.0629302866091, + 1119.7422290797558, + 63.57474309457649 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1610.4648540752557, + 1121.2422290797558, + 63.57474309457649 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1548.0, + 1160.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-56-12_1922265375/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-56-12_1922265375/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d840b724d609e9237950f587ac059d51aa2941c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_19-56-12_1922265375/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1719.09151062778, + 153.84992487786798, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1717.59151062778, + 151.25184866651466, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1716.09151062778, + 148.65377245516135, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1714.59151062778, + 146.05569624380803, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1713.09151062778, + 143.4576200324547, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1711.59151062778, + 140.8595438211014, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1710.09151062778, + 138.26146760974808, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1708.59151062778, + 135.66339139839477, + 58.69986708162682 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1708.59151062778, + 135.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1705.9934344164267, + 134.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1703.3953582050733, + 132.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1700.79728199372, + 131.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1698.1992057823666, + 129.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1695.6011295710132, + 128.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1693.0030533596598, + 126.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1690.4049771483064, + 125.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1687.806900936953, + 123.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1685.2088247255997, + 122.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1682.6107485142463, + 120.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1680.012672302893, + 119.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1677.4145960915396, + 117.66339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1674.8165198801862, + 116.16339139839477, + 58.69986708162682 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1672.2184436688328, + 114.66339139839477, + 58.69986708162682 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1656.0, + 104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-15-11_1194559277/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-15-11_1194559277/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f858a61c03674c47b879ee04525eb53896c6e487 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-15-11_1194559277/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1784.5154504099899, + 1154.446995766931, + 56.67137702028126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1784.5154504099899, + 1151.446995766931, + 56.67137702028126 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1784.5154504099899, + 1148.446995766931, + 56.67137702028126 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1788.0, + 1064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-15-34_1304352949/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-15-34_1304352949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ca9b1d241c33405495444e31a9ce38f4c597e62 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-15-34_1304352949/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -768.103834475601, + -1566.00463603326, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -769.603834475601, + -1563.4065598219067, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -771.103834475601, + -1560.8084836105534, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -772.603834475601, + -1558.2104073992, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -774.103834475601, + -1555.6123311878466, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -775.603834475601, + -1553.0142549764932, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -777.103834475601, + -1550.4161787651399, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -778.603834475601, + -1547.8181025537865, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.103834475601, + -1545.2200263424331, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.603834475601, + -1542.6219501310798, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -783.103834475601, + -1540.0238739197264, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -784.603834475601, + -1537.425797708373, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -786.103834475601, + -1534.8277214970196, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -787.603834475601, + -1532.2296452856663, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -789.103834475601, + -1529.631569074313, + 48.80443865737519 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -789.103834475601, + -1529.631569074313, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -789.103834475601, + -1526.631569074313, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -789.103834475601, + -1523.631569074313, + 48.80443865737519 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -789.103834475601, + -1520.631569074313, + 48.80443865737519 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -796.0, + -1500.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-16-54_2123987799/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-16-54_2123987799/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..885244d7bb0687ee17555da4eb01cc3d549c55d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-16-54_2123987799/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1631.0320330765967, + -465.08435344334134, + 54.00419100226551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1631.0320330765967, + -468.08435344334134, + 54.00419100226551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1631.0320330765967, + -471.08435344334134, + 54.00419100226551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1631.0320330765967, + -474.08435344334134, + 54.00419100226551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1631.0320330765967, + -477.08435344334134, + 54.00419100226551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1631.0320330765967, + -480.08435344334134, + 54.00419100226551 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1631.0320330765967, + -483.08435344334134, + 54.00419100226551 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-19-40_1682367563/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-19-40_1682367563/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2a9c5074ac81ccf5f18e6e8d517d76034bc1c8d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-19-40_1682367563/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1254.7283612828203, + -851.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1254.7283612828203, + -848.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1254.7283612828203, + -845.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1254.7283612828203, + -842.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1254.7283612828203, + -839.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1254.7283612828203, + -836.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1254.7283612828203, + -833.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1254.7283612828203, + -830.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1254.7283612828203, + -827.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1254.7283612828203, + -824.6735504324319, + 45.28534836966049 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1254.7283612828203, + -821.6735504324319, + 45.28534836966049 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1256.0, + -768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-2-24_1691635767/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-2-24_1691635767/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e42d9f09335d4d1ac57fe449132f8c34318f53c0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-2-24_1691635767/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1392.6546344133565, + -272.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1392.6546344133565, + -275.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1392.6546344133565, + -278.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1392.6546344133565, + -281.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1392.6546344133565, + -284.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1392.6546344133565, + -287.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1392.6546344133565, + -290.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1392.6546344133565, + -293.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1392.6546344133565, + -296.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1392.6546344133565, + -299.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1392.6546344133565, + -302.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1392.6546344133565, + -305.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1392.6546344133565, + -308.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1392.6546344133565, + -311.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1392.6546344133565, + -314.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1392.6546344133565, + -317.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1392.6546344133565, + -320.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1392.6546344133565, + -323.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1392.6546344133565, + -326.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1392.6546344133565, + -329.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1392.6546344133565, + -332.3587453607057, + 51.051683097712136 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1392.6546344133565, + -332.3587453607057, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1394.1546344133565, + -334.956821572059, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1395.6546344133565, + -337.55489778341234, + 51.051683097712136 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1397.1546344133565, + -340.15297399476566, + 51.051683097712136 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + -364.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-24-0_1741160450/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-24-0_1741160450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f2e0ad06dc2f23a6ef0469c618965f9bf09ed1c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-24-0_1741160450/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1119.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1116.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1113.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1110.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1107.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1104.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1101.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1098.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1095.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1092.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1089.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1086.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1083.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1080.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1077.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1074.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1071.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1068.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1065.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1062.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1059.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1056.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1053.1806555026862, + -794.5789009929856, + 51.442499183183095 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-30-52_1944216249/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-30-52_1944216249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f3a0d48a4d421d77691973582670dc573f44fa3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-30-52_1944216249/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1755.21183731686, + 631.271957212633, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1756.71183731686, + 628.6738810012796, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1758.21183731686, + 626.0758047899262, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1759.71183731686, + 623.4777285785729, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1761.21183731686, + 620.8796523672195, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1762.71183731686, + 618.2815761558661, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1764.21183731686, + 615.6834999445127, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1765.71183731686, + 613.0854237331594, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1767.21183731686, + 610.487347521806, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1768.71183731686, + 607.8892713104526, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1770.21183731686, + 605.2911950990992, + 49.28877333480514 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1770.21183731686, + 605.2911950990992, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1770.21183731686, + 602.2911950990992, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1770.21183731686, + 599.2911950990992, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1770.21183731686, + 596.2911950990992, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1770.21183731686, + 593.2911950990992, + 49.28877333480514 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1770.21183731686, + 590.2911950990992, + 49.28877333480514 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1776.0, + 572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-32-57_1247412082/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-32-57_1247412082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eba80e90b6e0c0ed81a54c6b5063a4c9ab4dc1f4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-32-57_1247412082/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1125.3774817599344, + -462.60800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1127.9755579712878, + -461.10800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1130.5736341826412, + -459.60800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1133.1717103939945, + -458.10800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1135.769786605348, + -456.60800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1138.3678628167013, + -455.10800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1140.9659390280547, + -453.60800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1143.564015239408, + -452.10800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1146.1620914507614, + -450.60800653801107, + 55.88402476958997 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1146.1620914507614, + -450.60800653801107, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1147.6620914507614, + -448.00993032665775, + 55.88402476958997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1149.1620914507614, + -445.41185411530444, + 55.88402476958997 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -420.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-42-55_1409907854/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-42-55_1409907854/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b625855450464822b799ab45efa8ffc156d07b3b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-42-55_1409907854/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1719.5623045036189, + 50.413381502342745, + 67.81007507332191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1719.5623045036189, + 53.413381502342745, + 67.81007507332191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1719.5623045036189, + 56.413381502342745, + 67.81007507332191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1719.5623045036189, + 59.413381502342745, + 67.81007507332191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1719.5623045036189, + 62.413381502342745, + 67.81007507332191 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1732.0, + 132.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-46-35_320062251/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-46-35_320062251/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1628043b92b1830ee88d5bbd12d2145edb443ca --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-46-35_320062251/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 506.0570133390879, + -565.8766165039748, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 507.5570133390879, + -563.2785402926215, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 509.0570133390879, + -560.6804640812682, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 510.5570133390879, + -558.0823878699148, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 512.0570133390879, + -555.4843116585614, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 513.5570133390879, + -552.886235447208, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 515.0570133390879, + -550.2881592358547, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 516.5570133390879, + -547.6900830245013, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 518.0570133390879, + -545.0920068131479, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 519.5570133390879, + -542.4939306017945, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 521.0570133390879, + -539.8958543904412, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 522.5570133390879, + -537.2977781790878, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 524.0570133390879, + -534.6997019677344, + 47.90169512931349 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 525.5570133390879, + -532.101625756381, + 47.90169512931349 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 536.0, + -504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-5-17_1135787096/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-5-17_1135787096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bda34f04b6a0fd6da4f0be01358bcb6e67a551f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-5-17_1135787096/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1406.5868148914699, + 631.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1406.5868148914699, + 634.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1406.5868148914699, + 637.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1406.5868148914699, + 640.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1406.5868148914699, + 643.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1406.5868148914699, + 646.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1406.5868148914699, + 649.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1406.5868148914699, + 652.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1406.5868148914699, + 655.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1406.5868148914699, + 658.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1406.5868148914699, + 661.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1406.5868148914699, + 664.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1406.5868148914699, + 667.0623747626373, + 56.60539672815122 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1406.5868148914699, + 667.0623747626373, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1405.0868148914699, + 669.6604509739907, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1403.5868148914699, + 672.2585271853441, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1402.0868148914699, + 674.8566033966974, + 56.60539672815122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1400.5868148914699, + 677.4546796080508, + 56.60539672815122 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1396.0, + 716.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-53-17_1840700573/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-53-17_1840700573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9790c0e8dc56c265a9e249ccbb8baf36160ef36a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-53-17_1840700573/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1599.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1596.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1593.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1590.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1587.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1584.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1581.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1581.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1581.4628095531648, + 1049.6024113421254, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1579.9628095531648, + 1052.2004875534788, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1578.4628095531648, + 1054.7985637648321, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1576.9628095531648, + 1057.3966399761855, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1575.4628095531648, + 1059.9947161875389, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1573.9628095531648, + 1062.5927923988922, + 45.07881335452571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1573.9628095531648, + 1062.5927923988922, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1571.3647333418114, + 1064.0927923988922, + 45.07881335452571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1568.766657130458, + 1065.5927923988922, + 45.07881335452571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 1080.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-53-1_1543678155/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-53-1_1543678155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ff60f4fa2c47897addd8b37408db74081851302 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-53-1_1543678155/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1770.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1767.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1764.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1761.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1758.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1755.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1752.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1749.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1746.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1743.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1740.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1737.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1734.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1731.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1728.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1725.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1722.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1719.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1716.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1716.2820931478689, + 1787.0214477194122, + 42.969824385521534 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1713.6840169365155, + 1785.5214477194122, + 42.969824385521534 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1784.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-6-34_1559473950/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-6-34_1559473950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58c36a02e6fd623559fca60cfde14f687458b43b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-6-34_1559473950/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 907.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 910.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 913.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 916.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 919.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 922.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 925.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 928.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 931.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 934.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 937.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 940.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 943.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 946.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 949.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 952.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 952.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 952.5620040749809, + 564.6563681312274, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 954.0620040749809, + 567.2544443425807, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 955.5620040749809, + 569.852520553934, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 957.0620040749809, + 572.4505967652874, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 958.5620040749809, + 575.0486729766408, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 960.0620040749809, + 577.6467491879941, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 961.5620040749809, + 580.2448253993475, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 963.0620040749809, + 582.8429016107009, + 68.05140101225301 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 964.5620040749809, + 585.4409778220543, + 68.05140101225301 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0, + 592.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-7-46_2105210525/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-7-46_2105210525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..19efb17f98dec1cc32d72bfd0c121175bc94f0b8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_20-7-46_2105210525/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 282.4034990540662, + 216.67444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 279.80542284271286, + 215.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 277.20734663135954, + 213.67444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 274.6092704200062, + 212.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 272.0111942086529, + 210.67444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 269.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 269.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 266.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 260.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 257.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 254.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 251.4131179972996, + 209.17444531105983, + 40.75220515998323 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-1-42_1268126901/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-1-42_1268126901/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18eb5bf9cae3b574dc338af4d3ad035fac593f39 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-1-42_1268126901/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -322.58307786283945, + 1782.3604827144882, + 53.46048581730178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -319.58307786283945, + 1782.3604827144882, + 53.46048581730178 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -319.58307786283945, + 1782.3604827144882, + 53.46048581730178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -316.98500165148613, + 1783.8604827144882, + 53.46048581730178 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -260.0, + 1804.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-11-51_535297508/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-11-51_535297508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3889ed2839947c0d372530a5c3a2a52f4711b90e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-11-51_535297508/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1694.1913486222488, + -493.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1691.5932724108955, + -494.90623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1688.995196199542, + -496.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1686.3971199881887, + -497.90623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1683.7990437768353, + -499.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1681.200967565482, + -500.90623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1678.6028913541286, + -502.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1676.0048151427752, + -503.90623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1673.4067389314218, + -505.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1670.8086627200685, + -506.90623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1668.210586508715, + -508.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1665.6125102973617, + -509.90623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1663.0144340860084, + -511.40623396334416, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1660.416357874655, + -512.9062339633441, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.61799387799152 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1657.8182816633016, + -514.4062339633441, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1655.2202054519482, + -515.9062339633441, + 55.26874567692347 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1652.6221292405949, + -517.4062339633441, + 55.26874567692347 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -528.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-15_1209597698/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-15_1209597698/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72fd8811d40a23760faea7f01139ebeadde4ca34 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-15_1209597698/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 449.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 479.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 479.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 479.8367697116429, + -469.98499461249287, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 481.3367697116429, + -472.5830708238462, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 482.8367697116429, + -475.1811470351995, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 484.3367697116429, + -477.7792232465528, + 46.54506817294533 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.3367697116429, + -477.7792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 486.9348459229962, + -479.2792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 489.5329221343495, + -480.7792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 492.13099834570284, + -482.2792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.72907455705615, + -483.7792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.32715076840947, + -485.2792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 499.9252269797628, + -486.7792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 502.5233031911161, + -488.2792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 505.1213794024694, + -489.7792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 507.71945561382273, + -491.2792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 510.31753182517605, + -492.7792232465528, + 46.54506817294533 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 512.9156080365294, + -494.2792232465528, + 46.54506817294533 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 536.0, + -504.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-36_1200977805/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-36_1200977805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c88f73c19c7a044156d6ff3c03c4ab09d2f72426 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-36_1200977805/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1029.123860513132, + -861.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1029.123860513132, + -858.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1029.123860513132, + -855.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1029.123860513132, + -852.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1029.123860513132, + -849.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1029.123860513132, + -846.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1029.123860513132, + -843.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1029.123860513132, + -840.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1029.123860513132, + -837.9066014385008, + 40.00360606564943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1029.123860513132, + -834.9066014385008, + 40.00360606564943 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1036.0, + -792.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-56_429857344/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-56_429857344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01bc8d42ca66bf0fde774c73e88d8cb066ea6b60 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-12-56_429857344/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 888.3274174043581, + 927.1744901544539, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 886.8274174043581, + 924.5764139431005, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 885.3274174043581, + 921.9783377317472, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 883.8274174043581, + 919.3802615203938, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 882.3274174043581, + 916.7821853090404, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 880.8274174043581, + 914.184109097687, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 879.3274174043581, + 911.5860328863337, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 877.8274174043581, + 908.9879566749803, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 876.3274174043581, + 906.3898804636269, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 874.8274174043581, + 903.7918042522736, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 873.3274174043581, + 901.1937280409202, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 871.8274174043581, + 898.5956518295668, + 51.96820883126913 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 871.8274174043581, + 898.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 871.8274174043581, + 895.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 871.8274174043581, + 892.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 871.8274174043581, + 889.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 871.8274174043581, + 886.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 871.8274174043581, + 883.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 871.8274174043581, + 880.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 871.8274174043581, + 877.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 871.8274174043581, + 874.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 871.8274174043581, + 871.5956518295668, + 51.96820883126913 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 871.8274174043581, + 868.5956518295668, + 51.96820883126913 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + 856.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-20-18_1919655804/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-20-18_1919655804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79b7b3d6a089cfe5963f75ba08f275e83b13a74a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-20-18_1919655804/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 687.5718664134604, + -904.6045200208598, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 686.0718664134604, + -907.2025962322132, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 684.5718664134604, + -909.8006724435666, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 683.0718664134604, + -912.3987486549199, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 681.5718664134604, + -914.9968248662733, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 680.0718664134604, + -917.5949010776267, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 678.5718664134604, + -920.19297728898, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 677.0718664134604, + -922.7910535003334, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 675.5718664134604, + -925.3891297116868, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 674.0718664134604, + -927.9872059230402, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 672.5718664134604, + -930.5852821343935, + 60.175061239172386 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 672.5718664134604, + -930.5852821343935, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 672.5718664134604, + -933.5852821343935, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 672.5718664134604, + -936.5852821343935, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 672.5718664134604, + -939.5852821343935, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 672.5718664134604, + -942.5852821343935, + 60.175061239172386 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 672.5718664134604, + -945.5852821343935, + 60.175061239172386 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 668.0, + -964.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-39-13_919121924/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-39-13_919121924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61b87142bbf87ff0064c30c539cb265ca80f53a9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-39-13_919121924/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 388.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 379.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 370.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 367.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 367.8627826047209, + -613.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 365.2647063933676, + -612.0283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 362.6666301820143, + -610.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.06855397066096, + -609.0283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 357.47047775930764, + -607.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.8724015479543, + -606.0283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.274325336601, + -604.5283250555287, + 47.44281540835582 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.274325336601, + -604.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 349.274325336601, + -604.5283250555287, + 47.44281540835582 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.274325336601, + -604.5283250555287, + 47.44281540835582 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -596.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-4-45_1223207428/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-4-45_1223207428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4c511f3d15a3de072b44ca070db65ee607e0f71 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-4-45_1223207428/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1122.810862802701, + -113.02678604494265, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1122.810862802701, + -116.02678604494265, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1122.810862802701, + -119.02678604494265, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1122.810862802701, + -122.02678604494265, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1122.810862802701, + -125.02678604494265, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1122.810862802701, + -128.02678604494264, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1122.810862802701, + -131.02678604494264, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1122.810862802701, + -134.02678604494264, + 53.1464270762675 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1122.810862802701, + -134.02678604494264, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1121.310862802701, + -136.62486225629596, + 53.1464270762675 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1119.810862802701, + -139.22293846764927, + 53.1464270762675 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1112.0, + -200.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-41-29_992209118/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-41-29_992209118/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfaede6939d5a662f508b924ad13f234bf39fd69 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-41-29_992209118/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1170.2957557524833, + -770.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1172.8938319638366, + -771.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1175.49190817519, + -773.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1178.0899843865434, + -774.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1180.6880605978968, + -776.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1183.2861368092501, + -777.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1185.8842130206035, + -779.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1188.4822892319569, + -780.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1191.0803654433103, + -782.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1193.6784416546636, + -783.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1196.276517866017, + -785.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1198.8745940773704, + -786.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1201.4726702887237, + -788.2210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1204.0707465000771, + -789.7210064142241, + 46.62488469052933 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1206.6688227114305, + -791.2210064142241, + 46.62488469052933 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1244.0, + -816.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-45-43_442357055/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-45-43_442357055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcb134a2c8bc42a5c53882fc619803d19d0e917a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-45-43_442357055/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 460.1491799033994, + 731.1054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 462.7472561147527, + 732.6054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 465.345332326106, + 734.1054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 467.94340853745933, + 735.6054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 470.54148474881265, + 737.1054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 473.13956096016597, + 738.6054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 475.7376371715193, + 740.1054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 478.3357133828726, + 741.6054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 480.9337895942259, + 743.1054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 483.53186580557923, + 744.6054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 486.12994201693255, + 746.1054396670307, + 53.180208963318584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 488.72801822828586, + 747.6054396670307, + 53.180208963318584 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 516.0, + 768.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-12_639854683/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-12_639854683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23f98f1378171792655e6e4c5239605d0efd16e9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-12_639854683/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1262.509585253779, + -196.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1259.9115090424257, + -197.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1257.3134328310723, + -199.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1254.715356619719, + -200.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1252.1172804083656, + -202.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1249.5192041970122, + -203.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1246.9211279856588, + -205.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1244.3230517743054, + -206.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1241.724975562952, + -208.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1239.1268993515987, + -209.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1236.5288231402453, + -211.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1233.930746928892, + -212.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1231.3326707175386, + -214.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1228.7345945061852, + -215.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1226.1365182948318, + -217.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1223.5384420834785, + -218.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1220.940365872125, + -220.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1218.3422896607717, + -221.9145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1215.7442134494183, + -223.4145206456609, + 68.82373033723795 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1215.7442134494183, + -223.4145206456609, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1214.2442134494183, + -226.01259685701422, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1212.7442134494183, + -228.61067306836753, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1211.2442134494183, + -231.20874927972085, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1209.7442134494183, + -233.80682549107416, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1208.2442134494183, + -236.40490170242748, + 68.82373033723795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1206.7442134494183, + -239.0029779137808, + 68.82373033723795 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1184.0, + -256.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-31_1361478979/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-31_1361478979/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d921bafd70825d6bb4f0139eaba9eb5ec56633e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-31_1361478979/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 651.8985202535894, + 36.00898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 649.300444042236, + 37.50898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 646.7023678308826, + 39.00898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 644.1042916195292, + 40.50898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 641.5062154081759, + 42.00898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 638.9081391968225, + 43.50898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 636.3100629854691, + 45.00898270366764, + 69.13453570368404 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 636.3100629854691, + 45.00898270366764, + 69.13453570368404 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 633.3100629854691, + 45.00898270366764, + 69.13453570368404 + ], + "type": "stop", + "value": 0, + "yaw": 3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + 68.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-40_689034589/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-40_689034589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0912f2cf047b021c2915da373c176ab3fcc1d0a9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-46-40_689034589/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 351.4445266016975, + -1045.1573416333742, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.9445266016975, + -1042.5592654220209, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 354.4445266016975, + -1039.9611892106675, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 355.9445266016975, + -1037.3631129993141, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 357.4445266016975, + -1034.7650367879608, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 358.9445266016975, + -1032.1669605766074, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 360.4445266016975, + -1029.568884365254, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 361.9445266016975, + -1026.9708081539006, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.4445266016975, + -1024.3727319425473, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 364.9445266016975, + -1021.7746557311939, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 366.4445266016975, + -1019.1765795198405, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 367.9445266016975, + -1016.5785033084871, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.4445266016975, + -1013.9804270971338, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 370.9445266016975, + -1011.3823508857804, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 372.4445266016975, + -1008.784274674427, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 373.9445266016975, + -1006.1861984630737, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 375.4445266016975, + -1003.5881222517203, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 376.9445266016975, + -1000.9900460403669, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 378.4445266016975, + -998.3919698290135, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 379.9445266016975, + -995.7938936176602, + 57.28029961790528 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 381.4445266016975, + -993.1958174063068, + 57.28029961790528 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 392.0, + -968.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-49-54_1026201114/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-49-54_1026201114/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78998d88ec351a9f32d52d7142e9f65e558636c2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-49-54_1026201114/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -75.21958559707531, + 163.75257455615156, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -73.71958559707531, + 161.15449834479824, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.21958559707531, + 158.55642213344493, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -70.71958559707531, + 155.9583459220916, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -69.21958559707531, + 153.3602697107383, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -67.71958559707531, + 150.76219349938498, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.21958559707531, + 148.16411728803166, + 42.06693745227412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -64.71958559707531, + 145.56604107667835, + 42.06693745227412 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -40.0, + 104.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-52_96198530/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-52_96198530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ba684bce90461b8935aeb253211db158ee9e645 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_21-9-52_96198530/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1759.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1756.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1753.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1750.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1747.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1744.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1741.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1738.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1735.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1732.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1729.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1726.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1723.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1720.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1720.5466872462, + -1473.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1717.9486110348466, + -1471.900079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1715.3505348234933, + -1470.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1712.75245861214, + -1468.900079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1710.1543824007865, + -1467.400079076069, + 53.05804030314126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1707.5563061894331, + -1465.900079076069, + 53.05804030314126 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1684.0, + -1464.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-30-42_481762508/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-30-42_481762508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..854c1aa8674f7160014661839e206f2c9fcac9b5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-30-42_481762508/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1141.7898353973844, + -277.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1141.7898353973844, + -280.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1141.7898353973844, + -283.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1141.7898353973844, + -286.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1141.7898353973844, + -289.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1141.7898353973844, + -292.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1141.7898353973844, + -295.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1141.7898353973844, + -298.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1141.7898353973844, + -301.52768771306813, + 69.91548021990042 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1141.7898353973844, + -304.52768771306813, + 69.91548021990042 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1148.0, + -340.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-30-51_865144369/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-30-51_865144369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13bbf13c6a86e1a9e9ff02f95d15d9d1100137df --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-30-51_865144369/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -464.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -461.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -458.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -455.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -452.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -449.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -446.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -443.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -440.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -437.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -434.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -431.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -428.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -425.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -422.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -419.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -416.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -413.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -410.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -407.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -404.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -401.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -398.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -395.6412091380416, + 187.59634040176476, + 53.46068396269626 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -380.0, + 188.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-19_1280931765/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-19_1280931765/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a499da104eb9360d09bd61b06b493b6db19cf05a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-36-19_1280931765/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1628.5618908283898, + -979.9011894763748, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1627.0618908283898, + -977.3031132650215, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1625.5618908283898, + -974.7050370536681, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1624.0618908283898, + -972.1069608423147, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1622.5618908283898, + -969.5088846309613, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1621.0618908283898, + -966.910808419608, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1619.5618908283898, + -964.3127322082546, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1618.0618908283898, + -961.7146559969012, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1616.5618908283898, + -959.1165797855479, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1615.0618908283898, + -956.5185035741945, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1613.5618908283898, + -953.9204273628411, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1612.0618908283898, + -951.3223511514877, + 62.89835534288416 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1612.0618908283898, + -951.3223511514877, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1609.4638146170364, + -949.8223511514877, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1606.865738405683, + -948.3223511514877, + 62.89835534288416 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1604.2676621943297, + -946.8223511514877, + 62.89835534288416 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1592.0, + -928.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-41-53_1483732493/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-41-53_1483732493/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4251348a0a09e216fb8e7b115cc779c1eee039c3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-41-53_1483732493/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1277.22467544869, + 1171.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1277.22467544869, + 1168.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1277.22467544869, + 1165.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1277.22467544869, + 1162.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1277.22467544869, + 1159.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1277.22467544869, + 1156.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1277.22467544869, + 1153.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1277.22467544869, + 1150.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1277.22467544869, + 1147.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1277.22467544869, + 1144.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1277.22467544869, + 1141.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1277.22467544869, + 1138.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1277.22467544869, + 1135.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1277.22467544869, + 1132.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1277.22467544869, + 1129.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1277.22467544869, + 1126.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1277.22467544869, + 1123.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1277.22467544869, + 1120.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1277.22467544869, + 1117.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1277.22467544869, + 1114.430721719935, + 67.62423234786623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1277.22467544869, + 1111.430721719935, + 67.62423234786623 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1276.0, + 1096.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-44-43_356341138/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-44-43_356341138/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f5a6ada2651962114dcc556db01416414f88080 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-44-43_356341138/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1542.566963964855, + 1244.1484284533637, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1541.066963964855, + 1241.5503522420104, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1539.566963964855, + 1238.952276030657, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1538.066963964855, + 1236.3541998193036, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1536.566963964855, + 1233.7561236079503, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1535.066963964855, + 1231.1580473965969, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1533.566963964855, + 1228.5599711852435, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1532.066963964855, + 1225.9618949738901, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1530.566963964855, + 1223.3638187625368, + 43.44331672661242 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1529.066963964855, + 1220.7657425511834, + 43.44331672661242 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1508.0, + 1184.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-48-55_243804735/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-48-55_243804735/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b8952aaaa9dc6025df68f5e261a49be6a73a8f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-48-55_243804735/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1410.2500201564476, + 1033.0876969035673, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1412.848096367801, + 1034.5876969035673, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1415.4461725791543, + 1036.0876969035673, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1418.0442487905077, + 1037.5876969035673, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1420.642325001861, + 1039.0876969035673, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1423.2404012132145, + 1040.5876969035673, + 60.934725327529854 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1423.2404012132145, + 1040.5876969035673, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1424.7404012132145, + 1043.1857731149207, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1426.2404012132145, + 1045.783849326274, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1427.7404012132145, + 1048.3819255376275, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1429.2404012132145, + 1050.9800017489808, + 60.934725327529854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1430.7404012132145, + 1053.5780779603342, + 60.934725327529854 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1472.0, + 1092.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-52-36_1003497683/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-52-36_1003497683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f60d12976e905c00f9294ca7e49bb3ba0659b38f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-52-36_1003497683/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1411.3441854795562, + -1089.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1413.9422616909096, + -1091.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1416.540337902263, + -1092.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1419.1384141136164, + -1094.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1421.7364903249697, + -1095.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1424.334566536323, + -1097.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1426.9326427476765, + -1098.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1429.5307189590299, + -1100.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1432.1287951703832, + -1101.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1434.7268713817366, + -1103.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1437.32494759309, + -1104.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1439.9230238044433, + -1106.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1442.5211000157967, + -1107.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1445.11917622715, + -1109.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1447.7172524385035, + -1110.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1450.3153286498568, + -1112.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1452.9134048612102, + -1113.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1455.5114810725636, + -1115.0940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1458.109557283917, + -1116.5940194825052, + 63.53728412558421 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1460.7076334952703, + -1118.0940194825052, + 63.53728412558421 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1484.0, + -1128.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-58-39_885420959/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-58-39_885420959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20e82ee295eb3712a908b42f8b79d182508c886a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-58-39_885420959/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1120.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1123.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1126.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1129.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1132.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1135.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1138.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1141.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1141.2468607492524, + -91.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1143.8449369606058, + -92.89112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1146.4430131719591, + -94.39112344952233, + 47.141659494149685 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1149.0410893833125, + -95.89112344952233, + 47.141659494149685 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1188.0, + -100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-59-30_504760186/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-59-30_504760186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..444b58e56e534d89da8628af157ebb1f925d0d54 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-59-30_504760186/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1018.6678762166715, + -1153.1254521478186, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1017.1678762166715, + -1150.5273759364652, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1015.6678762166715, + -1147.9292997251118, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1014.1678762166715, + -1145.3312235137585, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1012.6678762166715, + -1142.733147302405, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1011.1678762166715, + -1140.1350710910517, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1009.6678762166715, + -1137.5369948796983, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1008.1678762166715, + -1134.938918668345, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1006.6678762166715, + -1132.3408424569916, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1005.1678762166715, + -1129.7427662456382, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1003.6678762166715, + -1127.1446900342848, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1002.1678762166715, + -1124.5466138229315, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1000.6678762166715, + -1121.948537611578, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -999.1678762166715, + -1119.3504614002247, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -997.6678762166715, + -1116.7523851888714, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -996.1678762166715, + -1114.154308977518, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -994.6678762166715, + -1111.5562327661646, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -993.1678762166715, + -1108.9581565548112, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -991.6678762166715, + -1106.3600803434579, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -990.1678762166715, + -1103.7620041321045, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -988.6678762166715, + -1101.1639279207511, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -987.1678762166715, + -1098.5658517093977, + 66.52333357064786 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -987.1678762166715, + -1098.5658517093977, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -987.1678762166715, + -1095.5658517093977, + 66.52333357064786 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -987.1678762166715, + -1092.5658517093977, + 66.52333357064786 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -976.0, + -1068.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-6-26_1954784284/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-6-26_1954784284/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90c65e0c22d5c947d2b0ec65cf664ae5d93e5019 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-6-26_1954784284/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -484.2647673668648, + -1471.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -486.86284357821813, + -1473.141577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -489.46091978957145, + -1474.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -492.05899600092476, + -1476.141577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -494.6570722122781, + -1477.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -497.2551484236314, + -1479.141577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -499.8532246349847, + -1480.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -502.45130084633803, + -1482.141577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -505.04937705769134, + -1483.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -507.64745326904466, + -1485.141577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -510.245529480398, + -1486.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -512.8436056917512, + -1488.141577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -515.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -515.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -518.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -521.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -524.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -527.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -530.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -533.4416819031046, + -1489.641577436578, + 50.36079463666633 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -560.0, + -1496.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-7-51_161922596/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-7-51_161922596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ea4da37bf3fb4e826ec0509b0c134f83247192a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_22-7-51_161922596/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1243.07170510733, + -1679.458025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1240.4736288959766, + -1680.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1237.8755526846232, + -1682.458025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1235.2774764732699, + -1683.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1232.6794002619165, + -1685.458025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1230.0813240505631, + -1686.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1227.4832478392098, + -1688.458025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1224.8851716278564, + -1689.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1222.287095416503, + -1691.458025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1219.6890192051496, + -1692.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1217.0909429937963, + -1694.458025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1214.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1214.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1211.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1208.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1205.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1202.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1199.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1196.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1193.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1190.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1187.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1184.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1181.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1178.492866782443, + -1695.958025921026, + 44.95108395109736 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1156.0, + -1700.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-0-22_2081063046/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-0-22_2081063046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e766d3d30c26e9ea6c88050b368e179d54d2e8bc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-0-22_2081063046/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -853.1702064521102, + -1121.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -855.7682826634634, + -1123.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -858.3663588748168, + -1124.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -860.9644350861702, + -1126.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -863.5625112975235, + -1127.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -866.1605875088769, + -1129.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -868.7586637202303, + -1130.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -871.3567399315837, + -1132.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -873.954816142937, + -1133.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -876.5528923542904, + -1135.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -879.1509685656438, + -1136.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -881.7490447769972, + -1138.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -884.3471209883505, + -1139.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -886.9451971997039, + -1141.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -889.5432734110573, + -1142.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -892.1413496224106, + -1144.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -894.739425833764, + -1145.7464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -897.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -897.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -900.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -903.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -906.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -909.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -912.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -915.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -918.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -921.3375020451174, + -1147.2464197512684, + 62.72303646284291 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -944.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-0-57_777134495/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-0-57_777134495/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63599dd593118692778f57b2f8c5c0006cb8b0cc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-0-57_777134495/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 992.8596266849535, + 510.42797332333834, + 53.79301213663898 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 992.8596266849535, + 513.4279733233384, + 53.79301213663898 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 992.8596266849535, + 516.4279733233384, + 53.79301213663898 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 992.8596266849535, + 519.4279733233384, + 53.79301213663898 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 992.8596266849535, + 522.4279733233384, + 53.79301213663898 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 984.0, + 592.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-1-30_1101457716/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-1-30_1101457716/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4177ce79b017aaba43f849d4c55da4e1ec1366f8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-1-30_1101457716/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 454.0148952564068, + 770.9844538341829, + 62.42965498225325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 451.4168190450535, + 769.4844538341829, + 62.42965498225325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 448.8187428337002, + 767.9844538341829, + 62.42965498225325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 446.22066662234687, + 766.4844538341829, + 62.42965498225325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 443.62259041099355, + 764.9844538341829, + 62.42965498225325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 441.02451419964024, + 763.4844538341829, + 62.42965498225325 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 438.4264379882869, + 761.9844538341829, + 62.42965498225325 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 400.0, + 736.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-14-41_1063765871/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-14-41_1063765871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62ce8f7f9f09856c922bbae77e6bf275682dceb9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-14-41_1063765871/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1533.013215314052, + -544.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1533.013215314052, + -547.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1533.013215314052, + -550.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1533.013215314052, + -553.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1533.013215314052, + -556.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1533.013215314052, + -559.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1533.013215314052, + -562.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1533.013215314052, + -565.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1533.013215314052, + -568.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1533.013215314052, + -571.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1533.013215314052, + -574.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1533.013215314052, + -577.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1533.013215314052, + -580.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1533.013215314052, + -583.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1533.013215314052, + -586.4339075694909, + 66.49275659165201 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1533.013215314052, + -586.4339075694909, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1534.513215314052, + -589.0319837808443, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1536.013215314052, + -591.6300599921976, + 66.49275659165201 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1537.513215314052, + -594.228136203551, + 66.49275659165201 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1540.0, + -616.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-27-55_1267733606/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-27-55_1267733606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f72ac7480f7abd242ec07f751956e49fe28fcf6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-27-55_1267733606/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1227.1060095346472, + 8.969592621380883, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1225.6060095346472, + 11.5676688327342, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1224.1060095346472, + 14.165745044087515, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1222.6060095346472, + 16.76382125544083, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1221.1060095346472, + 19.361897466794147, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1219.6060095346472, + 21.959973678147463, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1218.1060095346472, + 24.55804988950078, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1216.6060095346472, + 27.156126100854095, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1215.1060095346472, + 29.75420231220741, + 51.8785009606288 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1215.1060095346472, + 29.75420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1212.5079333232939, + 31.25420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1209.9098571119405, + 32.75420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1207.311780900587, + 34.25420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1204.7137046892337, + 35.75420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1202.1156284778804, + 37.25420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1199.517552266527, + 38.75420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1196.9194760551736, + 40.25420231220741, + 51.8785009606288 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1194.3213998438202, + 41.75420231220741, + 51.8785009606288 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1176.0, + 64.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-30-39_93232173/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-30-39_93232173/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9897412d378459cd96f8c5e961b7692df37a40b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-30-39_93232173/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1773.3732600012354, + 1606.8950206654633, + 62.35664323545129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1770.3732600012354, + 1606.8950206654633, + 62.35664323545129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1767.3732600012354, + 1606.8950206654633, + 62.35664323545129 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1764.3732600012354, + 1606.8950206654633, + 62.35664323545129 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1688.0, + 1584.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-31-31_1632565483/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-31-31_1632565483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a04855947edde84c4634beb135df078714fcdc09 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-31-31_1632565483/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1232.3896364368868, + -1108.8363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1234.9877126482402, + -1107.3363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1237.5857888595935, + -1105.8363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1240.183865070947, + -1104.3363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1242.7819412823003, + -1102.8363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1245.3800174936537, + -1101.3363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1247.978093705007, + -1099.8363684841424, + 43.941458626834006 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1247.978093705007, + -1099.8363684841424, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1249.478093705007, + -1097.238292272789, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1250.978093705007, + -1094.6402160614357, + 43.941458626834006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1252.478093705007, + -1092.0421398500823, + 43.941458626834006 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1284.0, + -1064.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-36-28_472562275/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-36-28_472562275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ebd71c0ba757ba9de51f22c0ed6f46753b505a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-36-28_472562275/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 575.09869570356, + 443.56912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 577.6967719149134, + 445.06912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 580.2948481262667, + 446.56912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 582.8929243376201, + 448.06912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 585.4910005489735, + 449.56912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 588.0890767603269, + 451.06912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 590.6871529716802, + 452.56912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 593.2852291830336, + 454.06912711804614, + 43.38681791909267 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 593.2852291830336, + 454.06912711804614, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 594.7852291830336, + 456.66720332939946, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 596.2852291830336, + 459.2652795407528, + 43.38681791909267 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 597.7852291830336, + 461.8633557521061, + 43.38681791909267 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 620.0, + 484.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-39-9_430310992/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-39-9_430310992/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aac21d44f4c9092f9d8aef8310b00b3fc6348751 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-39-9_430310992/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1060.4705149387964, + -1099.4369905839471, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1061.9705149387964, + -1102.0350667953005, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1063.4705149387964, + -1104.6331430066539, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1064.9705149387964, + -1107.2312192180073, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1066.4705149387964, + -1109.8292954293606, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1067.9705149387964, + -1112.427371640714, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1069.4705149387964, + -1115.0254478520674, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1070.9705149387964, + -1117.6235240634207, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1072.4705149387964, + -1120.2216002747741, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1073.9705149387964, + -1122.8196764861275, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1075.4705149387964, + -1125.4177526974809, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1076.9705149387964, + -1128.0158289088342, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1078.4705149387964, + -1130.6139051201876, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1079.9705149387964, + -1133.211981331541, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1081.4705149387964, + -1135.8100575428944, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1082.9705149387964, + -1138.4081337542477, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1084.4705149387964, + -1141.006209965601, + 67.88295069266985 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1084.4705149387964, + -1141.006209965601, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1087.0685911501498, + -1142.506209965601, + 67.88295069266985 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1089.6666673615032, + -1144.006209965601, + 67.88295069266985 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -1156.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-51-5_2113690868/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-51-5_2113690868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4e402046200386595e1aa034a1682c2bd608d55 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-51-5_2113690868/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -787.9762314324082, + -1355.338816454273, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.4762314324082, + -1352.7407402429196, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -790.9762314324082, + -1350.1426640315663, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -792.4762314324082, + -1347.5445878202129, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -793.9762314324082, + -1344.9465116088595, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -795.4762314324082, + -1342.3484353975061, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -796.9762314324082, + -1339.7503591861528, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -798.4762314324082, + -1337.1522829747994, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -799.9762314324082, + -1334.554206763446, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -801.4762314324082, + -1331.9561305520926, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.9762314324082, + -1329.3580543407393, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -804.4762314324082, + -1326.759978129386, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -805.9762314324082, + -1324.1619019180325, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -807.4762314324082, + -1321.5638257066792, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -808.9762314324082, + -1318.9657494953258, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -810.4762314324082, + -1316.3676732839724, + 57.18961432970719 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -810.4762314324082, + -1316.3676732839724, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -810.4762314324082, + -1313.3676732839724, + 57.18961432970719 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -810.4762314324082, + -1310.3676732839724, + 57.18961432970719 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -832.0, + -1268.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-55-51_126183327/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-55-51_126183327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8256a9a06d29fb57a009e2ad8647606026b2884e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-55-51_126183327/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 481.86002920821517, + 700.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 481.86002920821517, + 697.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 481.86002920821517, + 694.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 481.86002920821517, + 691.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 481.86002920821517, + 688.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 481.86002920821517, + 685.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 481.86002920821517, + 682.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 481.86002920821517, + 679.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 481.86002920821517, + 676.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 481.86002920821517, + 673.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 481.86002920821517, + 670.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 481.86002920821517, + 667.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 481.86002920821517, + 664.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 481.86002920821517, + 661.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 481.86002920821517, + 658.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 481.86002920821517, + 655.6936425384456, + 46.74651483225075 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 481.86002920821517, + 655.6936425384456, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 480.36002920821517, + 653.0955663270922, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 478.86002920821517, + 650.4974901157389, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 477.36002920821517, + 647.8994139043855, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 475.86002920821517, + 645.3013376930321, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 474.36002920821517, + 642.7032614816787, + 46.74651483225075 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 472.86002920821517, + 640.1051852703254, + 46.74651483225075 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + 608.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-56-14_1336189196/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-56-14_1336189196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4291ec5a97d5378486c1b9ffd2e1091c221333c9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-56-14_1336189196/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -799.7311020194857, + -387.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -799.7311020194857, + -390.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -799.7311020194857, + -393.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.7311020194857, + -396.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.7311020194857, + -399.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -799.7311020194857, + -402.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -799.7311020194857, + -405.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -799.7311020194857, + -408.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -799.7311020194857, + -411.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.7311020194857, + -414.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -799.7311020194857, + -417.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -799.7311020194857, + -420.0916911066894, + 43.79122265632692 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -799.7311020194857, + -420.0916911066894, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -801.2311020194857, + -422.6897673180427, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -802.7311020194857, + -425.287843529396, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -804.2311020194857, + -427.88591974074933, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -805.7311020194857, + -430.48399595210265, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -807.2311020194857, + -433.08207216345596, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -808.7311020194857, + -435.6801483748093, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -810.2311020194857, + -438.2782245861626, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -811.7311020194857, + -440.8763007975159, + 43.79122265632692 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -813.2311020194857, + -443.4743770088692, + 43.79122265632692 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -816.0, + -460.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-57-50_1395011053/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-57-50_1395011053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22640d17aa83546e3eebcc1750e58ec8fd35e6bd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-57-50_1395011053/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 516.7437932490773, + -762.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 519.7437932490773, + -762.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 522.7437932490773, + -762.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 525.7437932490773, + -762.9267558926256, + 40.70657072122177 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 525.7437932490773, + -762.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 528.3418694604306, + -761.4267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 530.939945671784, + -759.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 533.5380218831374, + -758.4267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 536.1360980944908, + -756.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 538.7341743058441, + -755.4267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 541.3322505171975, + -753.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 543.9303267285509, + -752.4267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 546.5284029399043, + -750.9267558926256, + 40.70657072122177 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 546.5284029399043, + -750.9267558926256, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 548.0284029399043, + -748.3286796812722, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 549.5284029399043, + -745.7306034699188, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 551.0284029399043, + -743.1325272585655, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 552.5284029399043, + -740.5344510472121, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 554.0284029399043, + -737.9363748358587, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 555.5284029399043, + -735.3382986245053, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 557.0284029399043, + -732.740222413152, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 558.5284029399043, + -730.1421462017986, + 40.70657072122177 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 558.5284029399043, + -730.1421462017986, + 40.70657072122177 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 558.5284029399043, + -727.1421462017986, + 40.70657072122177 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267949059 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 576.0, + -708.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-6-22_2006420005/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-6-22_2006420005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75803a53f68ee83c5ceb9ec838da2db1d178ec19 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-6-22_2006420005/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1063.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1066.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1069.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1072.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1075.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1078.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1081.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1084.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1087.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1090.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1093.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1093.0721510542169, + -167.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1095.6702272655702, + -166.4686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1098.2683034769236, + -164.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1100.866379688277, + -163.4686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1103.4644558996304, + -161.9686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1106.0625321109837, + -160.4686101483175, + 67.00264396500053 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1108.660608322337, + -158.9686101483175, + 67.00264396500053 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1140.0, + -152.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-9-31_643762327/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-9-31_643762327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71fdb40b2240e826f2b29822c12671e066f93a55 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-6_23-9-31_643762327/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 524.0487639437329, + -879.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 524.0487639437329, + -882.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 524.0487639437329, + -885.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 524.0487639437329, + -888.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 524.0487639437329, + -891.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 524.0487639437329, + -894.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 524.0487639437329, + -897.2477117670835, + 54.28330576278056 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 524.0487639437329, + -897.2477117670835, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 522.5487639437329, + -899.8457879784369, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 521.0487639437329, + -902.4438641897902, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 519.5487639437329, + -905.0419404011436, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 518.0487639437329, + -907.640016612497, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 516.5487639437329, + -910.2380928238504, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 515.0487639437329, + -912.8361690352037, + 54.28330576278056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 513.5487639437329, + -915.4342452465571, + 54.28330576278056 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 508.0, + -944.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-11-14_1148576388/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-11-14_1148576388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0a70525fd1187bf4873803e5b07f5dad97e5ea6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-11-14_1148576388/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1246.2501175240805, + 165.90899060765761, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1247.7501175240805, + 163.3109143963043, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1249.2501175240805, + 160.71283818495098, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1250.7501175240805, + 158.11476197359767, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1252.2501175240805, + 155.51668576224435, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1253.7501175240805, + 152.91860955089103, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1255.2501175240805, + 150.32053333953772, + 55.779216506199646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1256.7501175240805, + 147.7224571281844, + 55.779216506199646 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1284.0, + 100.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-11-1_1423977622/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-11-1_1423977622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f51e7239071ddacd4e99bd703bcd0af80a3cd74 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-11-1_1423977622/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1691.8101871851748, + -495.0217334920477, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1693.3101871851748, + -497.619809703401, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1694.8101871851748, + -500.21788591475433, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1696.3101871851748, + -502.81596212610765, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1697.8101871851748, + -505.41403833746097, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1699.3101871851748, + -508.0121145488143, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1700.8101871851748, + -510.6101907601676, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1702.3101871851748, + -513.208266971521, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1703.8101871851748, + -515.8063431828743, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1705.3101871851748, + -518.4044193942277, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1706.8101871851748, + -521.0024956055811, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1708.3101871851748, + -523.6005718169345, + 47.31613144709434 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1708.3101871851748, + -523.6005718169345, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1710.9082633965281, + -525.1005718169345, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1713.5063396078815, + -526.6005718169345, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1716.1044158192349, + -528.1005718169345, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1718.7024920305882, + -529.6005718169345, + 47.31613144709434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1721.3005682419416, + -531.1005718169345, + 47.31613144709434 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1748.0, + -560.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-13-57_314909341/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-13-57_314909341/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c35a71000d88dd26e313b81e95e6eedfe56bbf8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-13-57_314909341/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1072.4978746301613, + -1527.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1075.0959508415147, + -1525.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1077.694027052868, + -1524.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1080.2921032642214, + -1522.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1082.8901794755748, + -1521.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1085.4882556869281, + -1519.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1088.0863318982815, + -1518.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1090.684408109635, + -1516.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1093.2824843209883, + -1515.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1095.8805605323416, + -1513.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1098.478636743695, + -1512.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1101.0767129550484, + -1510.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1103.6747891664018, + -1509.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1106.2728653777551, + -1507.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1108.8709415891085, + -1506.3440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1111.4690178004619, + -1504.8440575694592, + 49.573342724491134 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1111.4690178004619, + -1504.8440575694592, + 49.573342724491134 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1112.9690178004619, + -1502.2459813581058, + 49.573342724491134 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1132.0, + -1492.0, + 0.0 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-17-5_1441252327/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-17-5_1441252327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b089a9bd6cd59a58f07e66c28d633c03705c1983 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-17-5_1441252327/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 680.349137427905, + -1330.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 682.9472136392583, + -1331.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 685.5452898506117, + -1333.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 688.143366061965, + -1334.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 690.7414422733184, + -1336.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 693.3395184846718, + -1337.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 695.9375946960251, + -1339.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 698.5356709073785, + -1340.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 701.1337471187319, + -1342.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 703.7318233300853, + -1343.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 706.3298995414386, + -1345.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 708.927975752792, + -1346.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 711.5260519641454, + -1348.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 714.1241281754988, + -1349.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 716.7222043868521, + -1351.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 719.3202805982055, + -1352.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 721.9183568095589, + -1354.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 724.5164330209122, + -1355.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 727.1145092322656, + -1357.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 729.712585443619, + -1358.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 732.3106616549724, + -1360.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 734.9087378663257, + -1361.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 737.5068140776791, + -1363.247590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 740.1048902890325, + -1364.747590138622, + 47.62513208283599 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 742.7029665003859, + -1366.247590138622, + 47.62513208283599 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 760.0, + -1376.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-19-26_1259042831/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-19-26_1259042831/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6eee72556d79ab9eae0013dbd964576013b374e1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-19-26_1259042831/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1765.8070794695464, + -762.7422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1768.4051556808997, + -764.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1771.003231892253, + -765.7422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1773.6013081036065, + -767.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1776.1993843149598, + -768.7422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1778.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1778.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1781.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1784.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1787.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1790.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1793.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1796.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1799.7974605263132, + -770.2422820637279, + 44.651140703949956 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1856.0, + -784.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-27-43_1979629507/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-27-43_1979629507/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d27a39f8d78abcf7e9ad78525db4ac466b70726f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-27-43_1979629507/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1438.662916921262, + -1244.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1441.662916921262, + -1244.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1444.662916921262, + -1244.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1447.662916921262, + -1244.6727605734718, + 40.386206048896376 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1447.662916921262, + -1244.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1450.2609931326153, + -1243.1727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1452.8590693439687, + -1241.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1455.457145555322, + -1240.1727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1458.0552217666755, + -1238.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1460.6532979780288, + -1237.1727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1463.2513741893822, + -1235.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1465.8494504007356, + -1234.1727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1468.447526612089, + -1232.6727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1471.0456028234423, + -1231.1727605734718, + 40.386206048896376 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1471.0456028234423, + -1231.1727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1474.0456028234423, + -1231.1727605734718, + 40.386206048896376 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1477.0456028234423, + -1231.1727605734718, + 40.386206048896376 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -1220.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-32-15_248185889/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-32-15_248185889/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2714271b234fcd8de36dd07184e19cf34de6fe2e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-32-15_248185889/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -509.94376219826967, + -1624.46550218902, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -511.44376219826967, + -1621.8674259776667, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -512.9437621982696, + -1619.2693497663133, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931695 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -514.4437621982696, + -1616.67127355496, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -515.9437621982696, + -1614.0731973436066, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -517.4437621982696, + -1611.4751211322532, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -518.9437621982696, + -1608.8770449208998, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -520.4437621982696, + -1606.2789687095465, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -521.9437621982696, + -1603.680892498193, + 54.87019757246816 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -521.9437621982696, + -1603.680892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -524.5418384096229, + -1602.180892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -527.1399146209762, + -1600.680892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -529.7379908323296, + -1599.180892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -532.336067043683, + -1597.680892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -534.9341432550364, + -1596.180892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -537.5322194663897, + -1594.680892498193, + 54.87019757246816 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -540.1302956777431, + -1593.180892498193, + 54.87019757246816 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -560.0, + -1572.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-4-54_1471398403/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-4-54_1471398403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..862e1d72a18ac6b7b71013d44a66fd7bec67282a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-4-54_1471398403/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 454.9894110536942, + -514.0798244305536, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 456.4894110536942, + -511.48174821920026, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 457.9894110536942, + -508.88367200784694, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 459.4894110536942, + -506.2855957964936, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 460.9894110536942, + -503.6875195851403, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 462.4894110536942, + -501.089443373787, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 463.9894110536942, + -498.4913671624337, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 465.4894110536942, + -495.89329095108036, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 466.9894110536942, + -493.29521473972704, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 468.4894110536942, + -490.6971385283737, + 55.49597993389344 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 468.4894110536942, + -490.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 471.0874872650475, + -489.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 473.68556347640083, + -487.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 476.28363968775415, + -486.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 478.88171589910746, + -484.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 481.4797921104608, + -483.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.0778683218141, + -481.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 486.6759445331674, + -480.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 489.2740207445207, + -478.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 491.87209695587404, + -477.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.47017316722736, + -475.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.0682493785807, + -474.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 499.666325589934, + -472.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 502.2644018012873, + -471.1971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 504.8624780126406, + -469.6971385283737, + 55.49597993389344 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 507.46055422399394, + -468.1971385283737, + 55.49597993389344 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 524.0, + -456.0, + 0.0 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-6-34_729972835/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-6-34_729972835/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..185cc1a6ba46a9430e288ab0939df024aeae050a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_short/2025-1-7_0-6-34_729972835/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1601.2761410312025, + 1233.8584776587143, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1602.7761410312025, + 1231.260401447361, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1604.2761410312025, + 1228.6623252360075, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1605.7761410312025, + 1226.0642490246541, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1607.2761410312025, + 1223.4661728133008, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1608.7761410312025, + 1220.8680966019474, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1610.2761410312025, + 1218.270020390594, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1611.7761410312025, + 1215.6719441792407, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1613.2761410312025, + 1213.0738679678873, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1614.7761410312025, + 1210.475791756534, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1616.2761410312025, + 1207.8777155451805, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1617.7761410312025, + 1205.2796393338272, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1619.2761410312025, + 1202.6815631224738, + 54.40721019779158 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1619.2761410312025, + 1202.6815631224738, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1621.874217242556, + 1201.1815631224738, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1624.4722934539093, + 1199.6815631224738, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1627.0703696652627, + 1198.1815631224738, + 54.40721019779158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1629.668445876616, + 1196.6815631224738, + 54.40721019779158 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1652.0, + 1172.0, + 0.0 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +}