diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_18-8-47_1063958031/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_18-8-47_1063958031/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f4f86e13c5c663d1e9fa3ed5dec2a999de57ef04 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_18-8-47_1063958031/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -734.9957146554617, + 1781.8396358775612, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -736.4957146554617, + 1784.4377120889146, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.9957146554617, + 1787.035788300268, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.4957146554617, + 1789.6338645116214, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.9957146554617, + 1792.2319407229747, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.9957146554617, + 1792.2319407229747, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -740.9957146554617, + 1795.2319407229747, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -740.9957146554617, + 1798.2319407229747, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.0, + 1896.0, + 41.8645 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-13-24_260152959/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-13-24_260152959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c3005ef7c3c3de9b659dcebdd40cac08c6e62ac --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-13-24_260152959/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1044.663420339948, + -448.0496183545878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1046.163420339948, + -445.45154214323446, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1047.663420339948, + -442.85346593188115, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1049.163420339948, + -440.25538972052783, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1050.663420339948, + -437.6573135091745, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1052.163420339948, + -435.0592372978212, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1053.663420339948, + -432.4611610864679, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1055.163420339948, + -429.86308487511457, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1056.663420339948, + -427.26500866376125, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1058.163420339948, + -424.66693245240793, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1059.663420339948, + -422.0688562410546, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1061.163420339948, + -419.4707800297013, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1062.663420339948, + -416.872703818348, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1064.163420339948, + -414.27462760699467, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1064.163420339948, + -414.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1066.7614965513014, + -412.77462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1069.3595727626548, + -411.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1071.9576489740082, + -409.77462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1074.5557251853616, + -408.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1077.153801396715, + -406.77462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1079.7518776080683, + -405.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1082.3499538194217, + -403.77462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1084.948030030775, + -402.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1087.5461062421284, + -400.77462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1090.1441824534818, + -399.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1092.7422586648352, + -397.77462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1095.3403348761885, + -396.27462760699467, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1095.3403348761885, + -396.27462760699467, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1096.8403348761885, + -393.67655139564135, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1098.3403348761885, + -391.07847518428804, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + -356.0, + 72.6411 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-13-45_1472713773/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-13-45_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c15fbf482dba60c4c6bcbceb0760f68e8c34644 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-13-45_1472713773/pose.jsonl @@ -0,0 +1,93 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1792.0495523253962, + 640.1585322349877, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1793.5495523253962, + 642.756608446341, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1795.0495523253962, + 645.3546846576944, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1795.0495523253962, + 645.3546846576944, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1797.6476285367496, + 646.8546846576944, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1800.245704748103, + 648.3546846576944, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1888.0, + 740.0, + 37.2211 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-15-48_1704365084/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-15-48_1704365084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0dca13127309b61b99ac1c724b7a24a2c8ee753 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-15-48_1704365084/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1065.5455480811113, + -791.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1068.5455480811113, + -791.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1071.5455480811113, + -791.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1074.5455480811113, + -791.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1077.5455480811113, + -791.9488953643366, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1077.5455480811113, + -791.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1080.1436242924647, + -790.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1082.741700503818, + -788.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1085.3397767151714, + -787.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1087.9378529265248, + -785.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1090.5359291378782, + -784.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1093.1340053492315, + -782.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1095.732081560585, + -781.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1098.3301577719383, + -779.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1100.9282339832916, + -778.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1103.526310194645, + -776.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1106.1243864059984, + -775.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1108.7224626173518, + -773.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1111.3205388287051, + -772.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1113.9186150400585, + -770.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1116.5166912514119, + -769.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1119.1147674627653, + -767.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1121.7128436741186, + -766.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1124.310919885472, + -764.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1126.9089960968254, + -763.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1129.5070723081787, + -761.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1132.1051485195321, + -760.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1134.7032247308855, + -758.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1137.3013009422389, + -757.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1139.8993771535922, + -755.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1142.4974533649456, + -754.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1145.095529576299, + -752.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1147.6936057876524, + -751.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1150.2916819990057, + -749.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1152.889758210359, + -748.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1155.4878344217125, + -746.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1158.0859106330659, + -745.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1160.6839868444192, + -743.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1163.2820630557726, + -742.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1165.880139267126, + -740.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1168.4782154784793, + -739.4488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1171.0762916898327, + -737.9488953643366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1173.674367901186, + -736.4488953643366, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1192.0, + -728.0, + 54.287 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-16-41_638422090/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-16-41_638422090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4edb0cf95d6bab7f6f4088d9da861f2933e95517 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-16-41_638422090/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -396.897616858462, + -799.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -396.897616858462, + -802.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -396.897616858462, + -805.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -396.897616858462, + -808.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -396.897616858462, + -811.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -396.897616858462, + -814.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -396.897616858462, + -817.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -396.897616858462, + -820.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -396.897616858462, + -823.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -396.897616858462, + -826.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -396.897616858462, + -829.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -396.897616858462, + -832.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -396.897616858462, + -835.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -396.897616858462, + -838.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -396.897616858462, + -841.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -396.897616858462, + -844.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -396.897616858462, + -847.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.897616858462, + -850.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -396.897616858462, + -853.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.897616858462, + -856.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -396.897616858462, + -859.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -396.897616858462, + -862.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -396.897616858462, + -865.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.897616858462, + -868.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -396.897616858462, + -871.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -396.897616858462, + -874.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -396.897616858462, + -877.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -396.897616858462, + -880.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -396.897616858462, + -883.2466587217408, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -396.897616858462, + -883.2466587217408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -398.397616858462, + -885.8447349330941, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -399.897616858462, + -888.4428111444474, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -401.397616858462, + -891.0408873558008, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -402.897616858462, + -893.6389635671542, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -404.397616858462, + -896.2370397785076, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -405.897616858462, + -898.8351159898609, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -407.397616858462, + -901.4331922012143, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -412.0, + -940.0, + 31.9147 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-17-4_1943327684/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-17-4_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fa61f68dde36029fdabd0c3f25271cb614d7d73 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-17-4_1943327684/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1598.1891397117047, + -1001.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1600.787215923058, + -999.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1603.3852921344114, + -998.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1605.9833683457648, + -996.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1608.5814445571182, + -995.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1611.1795207684715, + -993.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1613.777596979825, + -992.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1616.3756731911783, + -990.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1618.9737494025317, + -989.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1621.571825613885, + -987.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1624.1699018252384, + -986.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1626.7679780365918, + -984.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1629.3660542479452, + -983.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1631.9641304592985, + -981.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1634.562206670652, + -980.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1637.1602828820053, + -978.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1639.7583590933586, + -977.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1642.356435304712, + -975.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1644.9545115160654, + -974.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1647.5525877274188, + -972.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1650.1506639387721, + -971.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1652.7487401501255, + -969.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1655.3468163614789, + -968.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1657.9448925728323, + -966.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1660.5429687841856, + -965.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1663.141044995539, + -963.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1665.7391212068924, + -962.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1668.3371974182458, + -960.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1670.9352736295991, + -959.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1673.5333498409525, + -957.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1676.1314260523059, + -956.0232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1678.7295022636592, + -954.5232007307278, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1681.3275784750126, + -953.0232007307278, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1708.0, + -936.0, + 95.9913 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-18-20_1069755936/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-18-20_1069755936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7db937862eb131d6c4f4585cd62b408c04ef0a2e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-18-20_1069755936/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1329.8830982827574, + 1449.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1329.8830982827574, + 1452.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1329.8830982827574, + 1455.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1329.8830982827574, + 1458.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1329.8830982827574, + 1461.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1329.8830982827574, + 1464.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1329.8830982827574, + 1467.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1329.8830982827574, + 1470.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1329.8830982827574, + 1473.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1329.8830982827574, + 1476.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1329.8830982827574, + 1479.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1329.8830982827574, + 1482.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1329.8830982827574, + 1485.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1329.8830982827574, + 1488.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1329.8830982827574, + 1491.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1329.8830982827574, + 1494.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1329.8830982827574, + 1497.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1329.8830982827574, + 1500.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1329.8830982827574, + 1503.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1329.8830982827574, + 1506.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1329.8830982827574, + 1509.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1329.8830982827574, + 1512.4850477484347, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1329.8830982827574, + 1512.4850477484347, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1328.3830982827574, + 1515.083123959788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1326.8830982827574, + 1517.6812001711414, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1325.3830982827574, + 1520.2792763824948, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1323.8830982827574, + 1522.8773525938482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1322.3830982827574, + 1525.4754288052015, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1320.8830982827574, + 1528.073505016555, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1319.3830982827574, + 1530.6715812279083, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1317.8830982827574, + 1533.2696574392617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1316.3830982827574, + 1535.867733650615, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1314.8830982827574, + 1538.4658098619684, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1313.3830982827574, + 1541.0638860733218, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1311.8830982827574, + 1543.6619622846752, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1310.3830982827574, + 1546.2600384960285, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1308.8830982827574, + 1548.858114707382, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1307.3830982827574, + 1551.4561909187353, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1304.0, + 1580.0, + 89.9588 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-22-2_625032172/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-22-2_625032172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..000ff7c85f8dcb261a84e568dfe3ac227c1cf8da --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-22-2_625032172/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -18.421636068914086, + -402.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -18.421636068914086, + -399.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -18.421636068914086, + -396.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -18.421636068914086, + -393.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -18.421636068914086, + -390.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -18.421636068914086, + -387.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -18.421636068914086, + -384.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -18.421636068914086, + -381.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -18.421636068914086, + -378.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -18.421636068914086, + -375.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -18.421636068914086, + -372.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -18.421636068914086, + -369.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -18.421636068914086, + -366.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -18.421636068914086, + -363.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -18.421636068914086, + -360.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.421636068914086, + -357.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -18.421636068914086, + -354.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -18.421636068914086, + -351.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -18.421636068914086, + -348.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -18.421636068914086, + -345.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -18.421636068914086, + -342.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -18.421636068914086, + -339.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -18.421636068914086, + -336.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -18.421636068914086, + -333.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -18.421636068914086, + -330.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -18.421636068914086, + -327.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -18.421636068914086, + -324.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -18.421636068914086, + -321.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -18.421636068914086, + -318.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -18.421636068914086, + -315.54663211335765, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -18.421636068914086, + -315.54663211335765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -16.921636068914086, + -312.94855590200433, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -15.421636068914086, + -310.350479690651, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -13.921636068914086, + -307.7524034792977, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -12.421636068914086, + -305.1543272679444, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -10.921636068914086, + -302.55625105659107, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -9.421636068914086, + -299.95817484523775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -7.921636068914086, + -297.36009863388443, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -6.421636068914086, + -294.7620224225311, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -4.921636068914086, + -292.1639462111778, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -3.421636068914086, + -289.5658699998245, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -3.421636068914086, + -289.5658699998245, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -3.421636068914086, + -286.5658699998245, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -3.421636068914086, + -283.5658699998245, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 0.0, + -260.0, + 107.266 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-23-18_1562402336/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-23-18_1562402336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9092b1cd4136120d6d401f4c44b672bfc308d87d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-23-18_1562402336/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 715.4307389509605, + -1014.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 715.4307389509605, + -1011.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 715.4307389509605, + -1008.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 715.4307389509605, + -1005.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 715.4307389509605, + -1002.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 715.4307389509605, + -999.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 715.4307389509605, + -996.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 715.4307389509605, + -993.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 715.4307389509605, + -990.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 715.4307389509605, + -987.8067208672688, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 715.4307389509605, + -987.8067208672688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 713.9307389509605, + -985.2086446559156, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 712.4307389509605, + -982.6105684445622, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 710.9307389509605, + -980.0124922332088, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 709.4307389509605, + -977.4144160218555, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 707.9307389509605, + -974.8163398105021, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 706.4307389509605, + -972.2182635991487, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 704.9307389509605, + -969.6201873877953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 703.4307389509605, + -967.022111176442, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 701.9307389509605, + -964.4240349650886, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 701.9307389509605, + -964.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 701.9307389509605, + -961.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 701.9307389509605, + -958.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 701.9307389509605, + -955.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 701.9307389509605, + -952.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 701.9307389509605, + -949.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 701.9307389509605, + -946.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 701.9307389509605, + -943.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 701.9307389509605, + -940.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 701.9307389509605, + -937.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 701.9307389509605, + -934.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 701.9307389509605, + -931.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 701.9307389509605, + -928.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 701.9307389509605, + -925.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 701.9307389509605, + -922.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 701.9307389509605, + -919.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 701.9307389509605, + -916.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 701.9307389509605, + -913.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 701.9307389509605, + -910.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 701.9307389509605, + -907.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 701.9307389509605, + -904.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 701.9307389509605, + -901.4240349650886, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 701.9307389509605, + -898.4240349650886, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 700.0, + -868.0, + 83.6717 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-26-39_1070575321/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-26-39_1070575321/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f572ce725d863c89cc7399d2de51899e84d5c8ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-26-39_1070575321/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1667.5349303480907, + 462.7300262435866, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1669.0349303480907, + 465.32810245493994, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1670.5349303480907, + 467.92617866629325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1672.0349303480907, + 470.52425487764657, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1673.5349303480907, + 473.1223310889999, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1675.0349303480907, + 475.7204073003532, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1676.5349303480907, + 478.3184835117065, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1678.0349303480907, + 480.91655972305983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1679.5349303480907, + 483.51463593441315, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1681.0349303480907, + 486.11271214576647, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1682.5349303480907, + 488.7107883571198, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1684.0349303480907, + 491.3088645684731, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1684.0349303480907, + 491.3088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1686.633006559444, + 492.8088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1689.2310827707975, + 494.3088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1691.8291589821508, + 495.8088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1694.4272351935042, + 497.3088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1697.0253114048576, + 498.8088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1699.623387616211, + 500.3088645684731, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1702.2214638275643, + 501.8088645684731, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1740.0, + 544.0, + 43.7982 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-29-13_1950955939/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-29-13_1950955939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cba6b60bbe67cd29ab691da6dfed255a3926fd28 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-29-13_1950955939/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1514.7367930792843, + 791.6122638770605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1517.7367930792843, + 791.6122638770605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1520.7367930792843, + 791.6122638770605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.7367930792843, + 791.6122638770605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.7367930792843, + 791.6122638770605, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1526.7367930792843, + 791.6122638770605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1529.3348692906377, + 793.1122638770605, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1529.3348692906377, + 793.1122638770605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1530.8348692906377, + 795.7103400884139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1532.3348692906377, + 798.3084162997673, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1532.3348692906377, + 798.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1534.932945501991, + 799.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1537.5310217133444, + 801.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1540.1290979246978, + 802.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1542.7271741360512, + 804.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1545.3252503474046, + 805.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1547.923326558758, + 807.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1550.5214027701113, + 808.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1553.1194789814647, + 810.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1555.717555192818, + 811.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1558.3156314041714, + 813.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1560.9137076155248, + 814.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1563.5117838268782, + 816.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1566.1098600382315, + 817.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1568.707936249585, + 819.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1571.3060124609383, + 820.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1573.9040886722917, + 822.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1576.502164883645, + 823.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1579.1002410949984, + 825.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1581.6983173063518, + 826.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1584.2963935177052, + 828.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1586.8944697290585, + 829.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1589.492545940412, + 831.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1592.0906221517653, + 832.8084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1594.6886983631186, + 834.3084162997673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1597.286774574472, + 835.8084162997673, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1620.0, + 848.0, + 75.5015 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-29-46_1797073940/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-29-46_1797073940/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b36efcf89675eb22ac9a64e89d2bae7d7645d24b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-29-46_1797073940/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1545.6912707216695, + -830.1934597400552, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1547.1912707216695, + -827.5953835287019, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1548.6912707216695, + -824.9973073173485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1550.1912707216695, + -822.3992311059951, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1551.6912707216695, + -819.8011548946417, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1553.1912707216695, + -817.2030786832884, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1553.1912707216695, + -817.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1553.1912707216695, + -814.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1553.1912707216695, + -811.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1553.1912707216695, + -808.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1553.1912707216695, + -805.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1553.1912707216695, + -802.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1553.1912707216695, + -799.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1553.1912707216695, + -796.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1553.1912707216695, + -793.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1553.1912707216695, + -790.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1553.1912707216695, + -787.2030786832884, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1553.1912707216695, + -787.2030786832884, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1554.6912707216695, + -784.605002471935, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1556.1912707216695, + -782.0069262605816, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1557.6912707216695, + -779.4088500492282, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1559.1912707216695, + -776.8107738378749, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1560.6912707216695, + -774.2126976265215, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1562.1912707216695, + -771.6146214151681, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1563.6912707216695, + -769.0165452038148, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1565.1912707216695, + -766.4184689924614, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1566.6912707216695, + -763.820392781108, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1568.1912707216695, + -761.2223165697546, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -732.0, + 52.2452 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-36-52_570073850/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-36-52_570073850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3183f3d666a1d27f7bedbefbccec3e532fa6f43e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-36-52_570073850/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1184.1065537628758, + 347.61527296170755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1182.6065537628758, + 345.01719675035423, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1181.1065537628758, + 342.4191205390009, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1179.6065537628758, + 339.8210443276476, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1178.1065537628758, + 337.2229681162943, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1176.6065537628758, + 334.62489190494097, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1175.1065537628758, + 332.02681569358765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1173.6065537628758, + 329.42873948223433, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1172.1065537628758, + 326.830663270881, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1170.6065537628758, + 324.2325870595277, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1169.1065537628758, + 321.6345108481744, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1167.6065537628758, + 319.03643463682107, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1166.1065537628758, + 316.43835842546775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1164.6065537628758, + 313.84028221411444, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1163.1065537628758, + 311.2422060027611, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1161.6065537628758, + 308.6441297914078, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1160.1065537628758, + 306.0460535800545, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1158.6065537628758, + 303.4479773687012, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1157.1065537628758, + 300.84990115734786, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1155.6065537628758, + 298.25182494599454, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1154.1065537628758, + 295.6537487346412, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1152.6065537628758, + 293.0556725232879, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1151.1065537628758, + 290.4575963119346, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1149.6065537628758, + 287.8595201005813, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1148.1065537628758, + 285.26144388922796, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1146.6065537628758, + 282.66336767787465, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1146.6065537628758, + 282.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1146.6065537628758, + 279.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1146.6065537628758, + 276.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1146.6065537628758, + 273.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1146.6065537628758, + 270.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1146.6065537628758, + 267.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1146.6065537628758, + 264.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1146.6065537628758, + 261.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1146.6065537628758, + 258.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1146.6065537628758, + 255.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1146.6065537628758, + 252.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1146.6065537628758, + 249.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1146.6065537628758, + 246.66336767787465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1146.6065537628758, + 243.66336767787465, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 212.0, + 38.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-38-6_1046741222/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-38-6_1046741222/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ceb4615e3d96051cc30d4765394ff5fef2b0ecc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-38-6_1046741222/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 472.664224288362, + -617.5574500332716, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 474.164224288362, + -614.9593738219182, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 475.664224288362, + -612.3612976105649, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 477.164224288362, + -609.7632213992115, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 478.664224288362, + -607.1651451878581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 480.164224288362, + -604.5670689765047, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 481.664224288362, + -601.9689927651514, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 483.164224288362, + -599.370916553798, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 484.664224288362, + -596.7728403424446, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 486.164224288362, + -594.1747641310913, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 487.664224288362, + -591.5766879197379, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 489.164224288362, + -588.9786117083845, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 490.664224288362, + -586.3805354970311, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 492.164224288362, + -583.7824592856778, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 493.664224288362, + -581.1843830743244, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 495.164224288362, + -578.586306862971, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 496.664224288362, + -575.9882306516176, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 498.164224288362, + -573.3901544402643, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 499.664224288362, + -570.7920782289109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 501.164224288362, + -568.1940020175575, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 502.664224288362, + -565.5959258062041, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 504.164224288362, + -562.9978495948508, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 505.664224288362, + -560.3997733834974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 507.164224288362, + -557.801697172144, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 508.664224288362, + -555.2036209607907, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 510.164224288362, + -552.6055447494373, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 511.664224288362, + -550.0074685380839, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 513.164224288362, + -547.4093923267305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 514.664224288362, + -544.8113161153772, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 516.164224288362, + -542.2132399040238, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 517.664224288362, + -539.6151636926704, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 519.164224288362, + -537.017087481317, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 520.664224288362, + -534.4190112699637, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 522.164224288362, + -531.8209350586103, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 536.0, + -504.0, + 120.414 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-52-56_1737518944/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-52-56_1737518944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb447482e1c1c4e1494205bd92b4cf9b869de37d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-52-56_1737518944/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1647.4208241051367, + 872.867708114681, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1644.4208241051367, + 872.867708114681, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1641.4208241051367, + 872.867708114681, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1641.4208241051367, + 872.867708114681, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1641.4208241051367, + 872.867708114681, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1639.9208241051367, + 875.4657843260343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1638.4208241051367, + 878.0638605373877, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1636.9208241051367, + 880.661936748741, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1635.4208241051367, + 883.2600129600944, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1633.9208241051367, + 885.8580891714478, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1632.4208241051367, + 888.4561653828011, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1630.9208241051367, + 891.0542415941545, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1629.4208241051367, + 893.6523178055079, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1627.9208241051367, + 896.2503940168613, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1626.4208241051367, + 898.8484702282146, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1624.9208241051367, + 901.446546439568, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1623.4208241051367, + 904.0446226509214, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1621.9208241051367, + 906.6426988622748, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1620.4208241051367, + 909.2407750736281, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1618.9208241051367, + 911.8388512849815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1617.4208241051367, + 914.4369274963349, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1615.9208241051367, + 917.0350037076882, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1614.4208241051367, + 919.6330799190416, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1612.9208241051367, + 922.231156130395, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1611.4208241051367, + 924.8292323417484, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1609.9208241051367, + 927.4273085531017, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1608.4208241051367, + 930.0253847644551, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1606.9208241051367, + 932.6234609758085, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1605.4208241051367, + 935.2215371871619, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1603.9208241051367, + 937.8196133985152, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1603.9208241051367, + 937.8196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1601.3227478937833, + 939.3196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1598.72467168243, + 940.8196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1596.1265954710766, + 942.3196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1593.5285192597232, + 943.8196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1590.9304430483699, + 945.3196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1588.3323668370165, + 946.8196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1585.734290625663, + 948.3196133985152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1583.1362144143097, + 949.8196133985152, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1552.0, + 984.0, + 29.3947 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-59-8_1023457753/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-59-8_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ecf8eca1053bdb328be2b71bc94ee9e8fd2cf18e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_19-59-8_1023457753/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 769.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 766.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 763.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 760.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 757.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 754.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 751.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 748.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 745.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 742.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 739.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 736.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 733.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 730.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 727.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 724.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 724.6079825477111, + 907.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 722.0099063363577, + 908.8320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 719.4118301250044, + 910.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 716.813753913651, + 911.8320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 714.2156777022976, + 913.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 711.6176014909443, + 914.8320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 709.0195252795909, + 916.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 706.4214490682375, + 917.8320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 703.8233728568841, + 919.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 701.2252966455308, + 920.8320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 698.6272204341774, + 922.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 696.029144222824, + 923.8320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 693.4310680114706, + 925.3320850355981, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 690.8329918001173, + 926.8320850355981, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 656.0, + 936.0, + 215.703 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-1-3_501772890/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-1-3_501772890/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..063a5f56f7b5ae6a9c5bf7ce529753f247232471 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-1-3_501772890/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1723.4268483527155, + -928.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1726.024924564069, + -929.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1728.6230007754223, + -931.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1731.2210769867756, + -932.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1733.819153198129, + -934.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1736.4172294094824, + -935.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1739.0153056208358, + -937.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1741.6133818321891, + -938.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1744.2114580435425, + -940.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1746.8095342548959, + -941.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1749.4076104662493, + -943.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1752.0056866776026, + -944.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1754.603762888956, + -946.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1757.2018391003094, + -947.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1759.7999153116627, + -949.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1762.3979915230161, + -950.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1764.9960677343695, + -952.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1767.5941439457229, + -953.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1770.1922201570762, + -955.4839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1772.7902963684296, + -956.9839756552788, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1772.7902963684296, + -956.9839756552788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1774.2902963684296, + -959.5820518666321, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1775.7902963684296, + -962.1801280779855, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1777.2902963684296, + -964.7782042893389, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1778.7902963684296, + -967.3762805006922, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1780.2902963684296, + -969.9743567120456, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1781.7902963684296, + -972.572432923399, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1783.2902963684296, + -975.1705091347524, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1784.7902963684296, + -977.7685853461057, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1784.7902963684296, + -977.7685853461057, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1787.388372579783, + -979.2685853461057, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1816.0, + -1000.0, + 37.6522 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-10-34_430253414/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-10-34_430253414/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f0390150db0d09f4f0472e5fbd49741a8ea4f66 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-10-34_430253414/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -352.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -355.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -358.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -361.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -364.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -367.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -370.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -373.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -376.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -379.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -382.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -385.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -388.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -391.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -391.0189425691326, + 1596.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -393.6170187804859, + 1597.829474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -396.21509499183924, + 1599.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -398.81317120319255, + 1600.829474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -401.41124741454587, + 1602.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -404.0093236258992, + 1603.829474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -406.6073998372525, + 1605.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -409.2054760486058, + 1606.829474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -411.80355225995913, + 1608.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -414.40162847131245, + 1609.829474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -416.99970468266577, + 1611.329474661797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -419.5977808940191, + 1612.829474661797, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -456.0, + 1620.0, + 93.0161 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-14-4_31308902/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-14-4_31308902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..edcd34aa898ad155a873ec24a0e9cfad4b0911a5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-14-4_31308902/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1596.1113916485072, + 891.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1599.1113916485072, + 891.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1602.1113916485072, + 891.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1605.1113916485072, + 891.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1608.1113916485072, + 891.186220114356, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1608.1113916485072, + 891.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1610.7094678598605, + 889.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1613.307544071214, + 888.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1615.9056202825673, + 886.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1618.5036964939206, + 885.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1621.101772705274, + 883.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1623.6998489166274, + 882.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1626.2979251279808, + 880.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1628.8960013393341, + 879.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1631.4940775506875, + 877.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1634.0921537620409, + 876.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1636.6902299733943, + 874.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1639.2883061847476, + 873.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1641.886382396101, + 871.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1644.4844586074544, + 870.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1647.0825348188077, + 868.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1649.6806110301611, + 867.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1652.2786872415145, + 865.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1654.8767634528679, + 864.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1657.4748396642212, + 862.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1660.0729158755746, + 861.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1662.670992086928, + 859.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1665.2690682982814, + 858.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1667.8671445096347, + 856.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1670.465220720988, + 855.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1673.0632969323415, + 853.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1675.6613731436948, + 852.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1678.2594493550482, + 850.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1680.8575255664016, + 849.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1683.455601777755, + 847.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1686.0536779891083, + 846.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1688.6517542004617, + 844.686220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1691.249830411815, + 843.186220114356, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1691.249830411815, + 843.186220114356, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1694.249830411815, + 843.186220114356, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1708.0, + 836.0, + 75.5107 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-18-26_669908538/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-18-26_669908538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f66f41b152353fb4b0ec9295a9b58a93bed2ee31 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-18-26_669908538/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -149.96116428632004, + -94.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -147.36308807496673, + -92.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -144.7650118636134, + -91.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -142.1669356522601, + -89.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -139.56885944090678, + -88.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -136.97078322955346, + -86.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.37270701820015, + -85.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -131.77463080684683, + -83.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -129.1765545954935, + -82.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -126.5784783841402, + -80.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.98040217278688, + -79.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -121.38232596143357, + -77.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -118.78424975008025, + -76.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -116.18617353872693, + -74.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -113.58809732737362, + -73.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -110.9900211160203, + -71.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -108.39194490466699, + -70.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -105.79386869331367, + -68.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -103.19579248196035, + -67.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.59771627060704, + -65.54610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.99964005925372, + -64.04610451784617, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -95.4015638479004, + -62.546104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -92.80348763654709, + -61.046104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -90.20541142519377, + -59.546104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -87.60733521384046, + -58.046104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -85.00925900248714, + -56.546104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -82.41118279113383, + -55.046104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -79.81310657978051, + -53.546104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -77.2150303684272, + -52.046104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -74.61695415707388, + -50.546104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -72.01887794572056, + -49.046104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -69.42080173436725, + -47.546104517846175, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -66.82272552301393, + -46.046104517846175, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -28.0, + 212.257 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-26-12_1329202900/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-26-12_1329202900/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3bf37a868326531600f9a725a5fa2d92c936695a --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-26-12_1329202900/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -411.11178873239646, + 1460.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -413.7098649437498, + 1462.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -416.3079411551031, + 1463.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -418.9060173664564, + 1465.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -421.5040935778097, + 1466.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -424.10216978916304, + 1468.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -426.70024600051636, + 1469.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -429.2983222118697, + 1471.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -431.896398423223, + 1472.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -434.4944746345763, + 1474.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -437.0925508459296, + 1475.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.69062705728294, + 1477.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -442.28870326863625, + 1478.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -444.88677947998957, + 1480.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -447.4848556913429, + 1481.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -450.0829319026962, + 1483.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -452.6810081140495, + 1484.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -455.27908432540283, + 1486.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -457.87716053675615, + 1487.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -460.47523674810947, + 1489.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -463.0733129594628, + 1490.966803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -465.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -465.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -468.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -471.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -474.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -477.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -480.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -483.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -486.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -489.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -492.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -495.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -498.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -501.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -504.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -507.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -510.6713891708161, + 1492.466803847602, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -540.0, + 1504.0, + 28.4873 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-26-37_1503885238/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-26-37_1503885238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ded235c45e08c792cc01e535fb2672fe7bc8898 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-26-37_1503885238/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1316.4069175832012, + 608.2241918998103, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1319.0049937945546, + 606.7241918998103, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1319.0049937945546, + 606.7241918998103, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1320.5049937945546, + 604.126115688457, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1322.0049937945546, + 601.5280394771037, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1323.5049937945546, + 598.9299632657503, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1323.5049937945546, + 598.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1323.5049937945546, + 595.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1323.5049937945546, + 592.9299632657503, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1323.5049937945546, + 592.9299632657503, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1323.5049937945546, + 592.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1326.103070005908, + 591.4299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1328.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1328.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1331.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1334.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1337.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1340.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1343.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1346.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1349.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1352.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1355.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1358.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1361.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1364.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1367.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1370.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1373.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1373.7011462172613, + 589.9299632657503, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1376.2992224286147, + 591.4299632657503, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1436.0, + 580.0, + 33.8866 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-29-48_389040743/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-29-48_389040743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd2be72c5434fe67f2675bbd8092d067dbd9be38 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-29-48_389040743/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1695.961733535653, + -566.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1693.3636573242995, + -568.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1690.7655811129462, + -569.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1688.1675049015928, + -571.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1685.5694286902394, + -572.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1682.971352478886, + -574.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1680.3732762675327, + -575.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1677.7752000561793, + -577.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1675.177123844826, + -578.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1672.5790476334726, + -580.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1669.9809714221192, + -581.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1667.3828952107658, + -583.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1664.7848189994124, + -584.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1662.186742788059, + -586.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1659.5886665767057, + -587.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1656.9905903653523, + -589.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1654.392514153999, + -590.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1651.7944379426456, + -592.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1649.1963617312922, + -593.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1646.5982855199388, + -595.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1644.0002093085855, + -596.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1641.402133097232, + -598.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1638.8040568858787, + -599.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1636.2059806745253, + -601.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1633.607904463172, + -602.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1631.0098282518186, + -604.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1628.4117520404652, + -605.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1625.8136758291118, + -607.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1623.2155996177585, + -608.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1620.617523406405, + -610.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1618.0194471950517, + -611.616297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1615.4213709836984, + -613.116297360172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1612.823294772345, + -614.616297360172, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1596.0, + -628.0, + 86.5755 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-3-47_1775473788/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-3-47_1775473788/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd8c6cb6e5ed62d526393a5d589226432e25ae1b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-3-47_1775473788/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 111.68593688563298, + 699.298904675983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 110.18593688563298, + 701.8969808873362, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 108.68593688563298, + 704.4950570986896, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 107.18593688563298, + 707.093133310043, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 105.68593688563298, + 709.6912095213963, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 104.18593688563298, + 712.2892857327497, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 102.68593688563298, + 714.8873619441031, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.18593688563298, + 717.4854381554564, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.68593688563298, + 720.0835143668098, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 98.18593688563298, + 722.6815905781632, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 96.68593688563298, + 725.2796667895166, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 95.18593688563298, + 727.8777430008699, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 93.68593688563298, + 730.4758192122233, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 93.68593688563298, + 730.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 93.68593688563298, + 733.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 93.68593688563298, + 736.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 93.68593688563298, + 739.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 93.68593688563298, + 742.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 93.68593688563298, + 745.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.68593688563298, + 748.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 93.68593688563298, + 751.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 93.68593688563298, + 754.4758192122233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 93.68593688563298, + 757.4758192122233, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 796.0, + 203.339 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-30-11_733053144/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-30-11_733053144/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e10d691f63f4b3b411a34df8bfac43ca60f0de32 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-30-11_733053144/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1010.9132518896107, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1013.9132518896107, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1016.9132518896107, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1019.9132518896107, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1022.9132518896107, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1025.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1028.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1031.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1034.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1037.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1040.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1043.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1046.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1049.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1052.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1055.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1058.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1061.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1064.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1067.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1070.9132518896108, + -509.1115531861482, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1116.0, + -508.0, + 45.9032 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-33-41_1780172261/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-33-41_1780172261/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d09590c9b1d285503758831693d9445981e77ba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-33-41_1780172261/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1545.000249563873, + -1200.554516711758, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1546.500249563873, + -1203.1525929231113, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1548.000249563873, + -1205.7506691344647, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1549.500249563873, + -1208.348745345818, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1551.000249563873, + -1210.9468215571715, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1552.500249563873, + -1213.5448977685248, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1554.000249563873, + -1216.1429739798782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1555.500249563873, + -1218.7410501912316, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1557.000249563873, + -1221.339126402585, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1558.500249563873, + -1223.9372026139383, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1560.000249563873, + -1226.5352788252917, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1561.500249563873, + -1229.133355036645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1563.000249563873, + -1231.7314312479984, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1563.000249563873, + -1231.7314312479984, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1563.000249563873, + -1234.7314312479984, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1563.000249563873, + -1237.7314312479984, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1563.000249563873, + -1240.7314312479984, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1563.000249563873, + -1243.7314312479984, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1563.000249563873, + -1243.7314312479984, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1564.500249563873, + -1246.3295074593518, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1566.000249563873, + -1248.9275836707052, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1567.500249563873, + -1251.5256598820586, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1569.000249563873, + -1254.123736093412, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1570.500249563873, + -1256.7218123047653, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1572.000249563873, + -1259.3198885161187, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1572.000249563873, + -1259.3198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1574.5983257752264, + -1260.8198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1577.1964019865798, + -1262.3198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1579.7944781979331, + -1263.8198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1582.3925544092865, + -1265.3198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1584.9906306206399, + -1266.8198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1587.5887068319932, + -1268.3198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1590.1867830433466, + -1269.8198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1592.7848592547, + -1271.3198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1595.3829354660534, + -1272.8198885161187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1597.9810116774067, + -1274.3198885161187, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1608.0, + -1292.0, + 48.852 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-36-12_1586903190/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-36-12_1586903190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..165b11da1b536724235a1c6044855a74dd64f919 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-36-12_1586903190/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 418.6332721660379, + -635.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 416.0351959546846, + -633.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 413.43711974333127, + -632.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 410.83904353197795, + -630.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 408.24096732062463, + -629.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.6428911092713, + -627.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 403.044814897918, + -626.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 400.4467386865647, + -624.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 397.84866247521137, + -623.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 395.25058626385805, + -621.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 392.65251005250474, + -620.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 390.0544338411514, + -618.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 387.4563576297981, + -617.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 384.8582814184448, + -615.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.2602052070915, + -614.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 379.66212899573816, + -612.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 377.06405278438484, + -611.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 374.4659765730315, + -609.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 371.8679003616782, + -608.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 369.2698241503249, + -606.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.6717479389716, + -605.1361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 364.07367172761826, + -603.6361292962775, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 361.47559551626495, + -602.1361292962775, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 332.0, + -584.0, + 64.2356 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-38-4_1061730690/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-38-4_1061730690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f17e11cb5a88be3481bed05b9c6e7d0182da6141 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-38-4_1061730690/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1188.0817831556662, + 771.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1190.6798593670196, + 773.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1193.277935578373, + 774.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1195.8760117897264, + 776.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1198.4740880010797, + 777.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1201.072164212433, + 779.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1203.6702404237865, + 780.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1206.2683166351399, + 782.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1208.8663928464932, + 783.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1211.4644690578466, + 785.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1214.0625452692, + 786.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1216.6606214805533, + 788.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1219.2586976919067, + 789.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1221.85677390326, + 791.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1224.4548501146135, + 792.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1227.0529263259668, + 794.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1229.6510025373202, + 795.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1232.2490787486736, + 797.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1234.847154960027, + 798.9505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1237.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1237.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1240.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1243.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1246.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1249.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1252.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1255.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1258.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1261.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1264.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1267.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1270.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1273.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1276.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1279.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1282.4452311713803, + 800.4505574573406, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + 812.0, + 47.3632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-45-5_358532290/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-45-5_358532290/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f18355ce79544a909f4b8ffee64feebbfcd3136 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-45-5_358532290/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1479.7014346119272, + 409.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1479.7014346119272, + 412.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1479.7014346119272, + 415.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1479.7014346119272, + 418.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1479.7014346119272, + 421.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1479.7014346119272, + 424.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1479.7014346119272, + 427.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1479.7014346119272, + 430.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1479.7014346119272, + 433.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1479.7014346119272, + 436.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1479.7014346119272, + 439.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1479.7014346119272, + 442.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1479.7014346119272, + 445.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1479.7014346119272, + 448.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1479.7014346119272, + 451.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1479.7014346119272, + 454.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1479.7014346119272, + 457.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1479.7014346119272, + 460.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1479.7014346119272, + 463.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1479.7014346119272, + 466.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1479.7014346119272, + 469.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1479.7014346119272, + 472.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1479.7014346119272, + 475.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1479.7014346119272, + 478.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1479.7014346119272, + 481.60779598482645, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1479.7014346119272, + 481.60779598482645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1478.2014346119272, + 484.20587219617977, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1476.7014346119272, + 486.8039484075331, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1475.2014346119272, + 489.4020246188864, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1473.7014346119272, + 492.0001008302397, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1472.2014346119272, + 494.59817704159303, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1470.7014346119272, + 497.19625325294635, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1469.2014346119272, + 499.79432946429966, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1467.7014346119272, + 502.392405675653, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1466.2014346119272, + 504.9904818870063, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1464.7014346119272, + 507.5885580983596, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1463.2014346119272, + 510.18663430971293, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1461.7014346119272, + 512.7847105210662, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1460.2014346119272, + 515.3827867324196, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1458.7014346119272, + 517.980862943773, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1457.2014346119272, + 520.5789391551264, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1455.7014346119272, + 523.1770153664797, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1454.2014346119272, + 525.7750915778331, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1452.7014346119272, + 528.3731677891865, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1451.2014346119272, + 530.9712440005399, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1448.0, + 556.0, + 54.8935 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-48-22_1281830857/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-48-22_1281830857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..936fd43e7a5c58ef27cc7da96d6a39753456fd33 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-48-22_1281830857/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1194.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1191.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1188.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1185.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1182.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1179.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1176.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1173.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1170.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1167.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1164.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1161.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1158.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1155.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1152.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1152.960540015373, + -1083.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1150.3624638040196, + -1081.8833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1147.7643875926663, + -1080.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1145.1663113813129, + -1078.8833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1142.5682351699595, + -1077.3833331775188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1139.9701589586061, + -1075.8833331775188, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1084.0, + -1064.0, + 31.1853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-49-26_318561886/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-49-26_318561886/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4752757bd91559c469f3f8b77bb9be16b4af773f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-49-26_318561886/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1373.2581545584108, + -1227.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1375.8562307697641, + -1226.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1378.4543069811175, + -1224.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1381.0523831924709, + -1223.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1383.6504594038242, + -1221.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1386.2485356151776, + -1220.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1388.846611826531, + -1218.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1391.4446880378844, + -1217.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1394.0427642492377, + -1215.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1396.640840460591, + -1214.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1399.2389166719445, + -1212.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1401.8369928832979, + -1211.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1404.4350690946512, + -1209.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1407.0331453060046, + -1208.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1409.631221517358, + -1206.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1412.2292977287113, + -1205.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1414.8273739400647, + -1203.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1417.425450151418, + -1202.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1420.0235263627715, + -1200.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1422.6216025741248, + -1199.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1425.2196787854782, + -1197.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1427.8177549968316, + -1196.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1430.415831208185, + -1194.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1433.0139074195383, + -1193.0921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1435.6119836308917, + -1191.5921743978251, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1435.6119836308917, + -1191.5921743978251, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1437.1119836308917, + -1188.9940981864718, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1438.6119836308917, + -1186.3960219751184, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1440.1119836308917, + -1183.797945763765, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1441.6119836308917, + -1181.1998695524117, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1443.1119836308917, + -1178.6017933410583, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1444.6119836308917, + -1176.003717129705, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1446.1119836308917, + -1173.4056409183515, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1447.6119836308917, + -1170.8075647069982, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1449.1119836308917, + -1168.2094884956448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1450.6119836308917, + -1165.6114122842914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1452.1119836308917, + -1163.013336072938, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1453.6119836308917, + -1160.4152598615847, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1455.1119836308917, + -1157.8171836502313, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1456.6119836308917, + -1155.219107438878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1458.1119836308917, + -1152.6210312275246, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1459.6119836308917, + -1150.0229550161712, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1461.1119836308917, + -1147.4248788048178, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1462.6119836308917, + -1144.8268025934644, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1484.0, + -1128.0, + 50.4445 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-51-39_1788014412/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-51-39_1788014412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc4c6d263ae742cdaab6ba85d73c234a69587563 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-51-39_1788014412/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1683.3602259318327, + -580.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1685.958302143186, + -581.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1688.5563783545394, + -583.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1691.1544545658928, + -584.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1693.7525307772462, + -586.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1696.3506069885996, + -587.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1698.948683199953, + -589.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1701.5467594113063, + -590.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1704.1448356226597, + -592.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1706.742911834013, + -593.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1709.3409880453664, + -595.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1711.9390642567198, + -596.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1714.5371404680732, + -598.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1717.1352166794265, + -599.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1719.73329289078, + -601.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1722.3313691021333, + -602.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1724.9294453134867, + -604.3534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1727.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1727.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1730.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1733.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1736.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1739.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1742.52752152484, + -605.8534996333485, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1780.0, + -620.0, + 37.3924 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-52-20_241909610/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-52-20_241909610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf9a1907cd548a5c1c3dfdb7eee0f80f3882ec25 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-52-20_241909610/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1795.3417735870225, + -847.4332618433906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1795.3417735870225, + -844.4332618433906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1795.3417735870225, + -841.4332618433906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1795.3417735870225, + -838.4332618433906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1795.3417735870225, + -835.4332618433906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1795.3417735870225, + -832.4332618433906, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1795.3417735870225, + -832.4332618433906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1796.8417735870225, + -829.8351856320373, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1798.3417735870225, + -827.237109420684, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1816.0, + -748.0, + 123.709 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-54-17_826047641/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-54-17_826047641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b257ae09ed46a23e9eebe856538f5cb4a1317f22 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-54-17_826047641/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1719.4548552310002, + -102.17589489038147, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1717.9548552310002, + -99.57781867902816, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1716.4548552310002, + -96.97974246767484, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1714.9548552310002, + -94.38166625632152, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1713.4548552310002, + -91.78359004496821, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1711.9548552310002, + -89.18551383361489, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1710.4548552310002, + -86.58743762226158, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1708.9548552310002, + -83.98936141090826, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1707.4548552310002, + -81.39128519955494, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1705.9548552310002, + -78.79320898820163, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1704.4548552310002, + -76.19513277684831, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1702.9548552310002, + -73.597056565495, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1701.4548552310002, + -70.99898035414168, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1699.9548552310002, + -68.40090414278836, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1698.4548552310002, + -65.80282793143505, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1696.9548552310002, + -63.20475172008173, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1696.9548552310002, + -63.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1696.9548552310002, + -60.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1696.9548552310002, + -57.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1696.9548552310002, + -54.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1696.9548552310002, + -51.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1696.9548552310002, + -48.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1696.9548552310002, + -45.20475172008173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1696.9548552310002, + -42.20475172008173, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1680.0, + 8.0, + 30.6801 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-56-24_873524566/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-56-24_873524566/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a9abcbd6ee16efe3a7fde73a9dd3ac052a4b257 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-56-24_873524566/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1206.7683280223223, + 114.03829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1209.3664042336757, + 115.53829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1211.964480445029, + 117.03829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1214.5625566563824, + 118.53829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1217.1606328677358, + 120.03829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1219.7587090790892, + 121.53829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1222.3567852904425, + 123.03829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1224.954861501796, + 124.53829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1227.5529377131493, + 126.03829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1230.1510139245026, + 127.53829932160046, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1232.749090135856, + 129.03829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915077 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1235.3471663472094, + 130.53829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1237.9452425585628, + 132.03829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1240.5433187699161, + 133.53829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1243.1413949812695, + 135.03829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1245.739471192623, + 136.53829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1248.3375474039763, + 138.03829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1250.9356236153296, + 139.53829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1253.533699826683, + 141.03829932160045, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1253.533699826683, + 141.03829932160045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1255.033699826683, + 143.63637553295376, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1256.533699826683, + 146.23445174430708, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1258.033699826683, + 148.8325279556604, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1259.533699826683, + 151.4306041670137, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1261.033699826683, + 154.02868037836703, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1261.033699826683, + 154.02868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1261.033699826683, + 157.02868037836703, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1261.033699826683, + 157.02868037836703, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1261.033699826683, + 157.02868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1263.6317760380364, + 158.52868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1266.2298522493898, + 160.02868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1268.8279284607431, + 161.52868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1271.4260046720965, + 163.02868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1274.0240808834499, + 164.52868037836703, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1276.6221570948032, + 166.02868037836703, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + 196.0, + 28.127 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-56-47_37487770/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-56-47_37487770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..693e9024f120cff745929eb4384896d697d9f222 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-56-47_37487770/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 622.3972885825048, + -397.0556165962931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 619.7992123711515, + -398.5556165962931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 617.2011361597981, + -400.0556165962931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 614.6030599484448, + -401.5556165962931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 612.0049837370914, + -403.0556165962931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 609.406907525738, + -404.5556165962931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 606.8088313143846, + -406.0556165962931, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 524.0, + -456.0, + 64.8485 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-59-45_126107205/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-59-45_126107205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5834c8ba5378280775643a0b959c05766718074f --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-59-45_126107205/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1644.2804045109222, + 380.0855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1646.8784807222755, + 378.5855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1649.476556933629, + 377.0855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1652.0746331449823, + 375.5855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1654.6727093563356, + 374.0855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1657.270785567689, + 372.5855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1659.8688617790424, + 371.0855867185767, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1659.8688617790424, + 371.0855867185767, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1661.3688617790424, + 368.48751050722336, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1662.8688617790424, + 365.88943429587005, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1664.3688617790424, + 363.29135808451673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1665.8688617790424, + 360.6932818731634, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1667.3688617790424, + 358.0952056618101, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1667.3688617790424, + 358.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1669.9669379903958, + 356.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1672.5650142017491, + 355.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1675.1630904131025, + 353.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1677.7611666244559, + 352.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1680.3592428358093, + 350.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1682.9573190471626, + 349.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1685.555395258516, + 347.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1688.1534714698694, + 346.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1690.7515476812227, + 344.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1693.3496238925761, + 343.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1695.9477001039295, + 341.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1698.5457763152829, + 340.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1701.1438525266362, + 338.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1703.7419287379896, + 337.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1706.340004949343, + 335.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1708.9380811606964, + 334.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1711.5361573720497, + 332.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1714.134233583403, + 331.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1716.7323097947565, + 329.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1719.3303860061098, + 328.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1721.9284622174632, + 326.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1724.5265384288166, + 325.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1727.12461464017, + 323.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1729.7226908515233, + 322.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1732.3207670628767, + 320.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1734.91884327423, + 319.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1737.5169194855835, + 317.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1740.1149956969368, + 316.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1742.7130719082902, + 314.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1745.3111481196436, + 313.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1747.909224330997, + 311.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1750.5073005423503, + 310.0952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1753.1053767537037, + 308.5952056618101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1755.703452965057, + 307.0952056618101, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1768.0, + 296.0, + 90.4347 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-6-7_1415505363/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-6-7_1415505363/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98d365bdfc303baf52b4bb4dbacd7276efa51fa4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_20-6-7_1415505363/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1262.5225494116582, + 1447.1223113427181, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1264.0225494116582, + 1449.7203875540715, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1265.5225494116582, + 1452.318463765425, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1267.0225494116582, + 1454.9165399767783, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1268.5225494116582, + 1457.5146161881316, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1270.0225494116582, + 1460.112692399485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1271.5225494116582, + 1462.7107686108384, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1273.0225494116582, + 1465.3088448221918, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1274.5225494116582, + 1467.9069210335451, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1276.0225494116582, + 1470.5049972448985, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1277.5225494116582, + 1473.1030734562519, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1279.0225494116582, + 1475.7011496676053, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1280.5225494116582, + 1478.2992258789586, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1282.0225494116582, + 1480.897302090312, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1283.5225494116582, + 1483.4953783016654, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1285.0225494116582, + 1486.0934545130187, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1286.5225494116582, + 1488.6915307243721, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1288.0225494116582, + 1491.2896069357255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1289.5225494116582, + 1493.8876831470789, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1291.0225494116582, + 1496.4857593584322, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1292.5225494116582, + 1499.0838355697856, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1294.0225494116582, + 1501.681911781139, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1294.0225494116582, + 1501.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1294.0225494116582, + 1504.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1294.0225494116582, + 1507.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1294.0225494116582, + 1510.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1294.0225494116582, + 1513.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1294.0225494116582, + 1516.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1294.0225494116582, + 1519.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1294.0225494116582, + 1522.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1294.0225494116582, + 1525.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1294.0225494116582, + 1528.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1294.0225494116582, + 1531.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1294.0225494116582, + 1534.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1294.0225494116582, + 1537.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1294.0225494116582, + 1540.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1294.0225494116582, + 1543.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1294.0225494116582, + 1546.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1294.0225494116582, + 1549.681911781139, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1294.0225494116582, + 1552.681911781139, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1304.0, + 1580.0, + 89.9588 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-12-30_864101839/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-12-30_864101839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1663498e95926299400e22fa184e73361446064d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-12-30_864101839/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 679.9638467631006, + -525.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 677.3657705517473, + -527.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 674.767694340394, + -528.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 672.1696181290406, + -530.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 669.5715419176872, + -531.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 666.9734657063339, + -533.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 664.3753894949805, + -534.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 661.7773132836271, + -536.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 659.1792370722737, + -537.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 656.5811608609204, + -539.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 653.983084649567, + -540.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 651.3850084382136, + -542.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 648.7869322268602, + -543.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 646.1888560155069, + -545.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 643.5907798041535, + -546.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 640.9927035928001, + -548.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 638.3946273814468, + -549.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 635.7965511700934, + -551.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 633.19847495874, + -552.5444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 630.6003987473866, + -554.0444606090074, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 630.6003987473866, + -554.0444606090074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 629.1003987473866, + -556.6425368203606, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 627.6003987473866, + -559.240613031714, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 626.1003987473866, + -561.8386892430674, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 624.6003987473866, + -564.4367654544208, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 623.1003987473866, + -567.0348416657741, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 600.0, + -588.0, + 28.5092 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-14-36_1404196431/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-14-36_1404196431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08a44c7cc30d29accdae9104f4c9b480ac80c773 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-14-36_1404196431/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1680.805192033744, + -495.99273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1683.4032682450975, + -497.49273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1686.0013444564509, + -498.99273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1688.5994206678042, + -500.49273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1691.1974968791576, + -501.99273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1693.795573090511, + -503.49273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1696.3936493018643, + -504.99273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1698.9917255132177, + -506.49273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1701.589801724571, + -507.99273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1704.1878779359245, + -509.49273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1706.7859541472778, + -510.99273130576523, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1709.3840303586312, + -512.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1711.9821065699846, + -513.9927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1714.580182781338, + -515.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1717.1782589926913, + -516.9927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1719.7763352040447, + -518.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1722.374411415398, + -519.9927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1724.9724876267514, + -521.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1727.5705638381048, + -522.9927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1730.1686400494582, + -524.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1732.7667162608116, + -525.9927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1735.364792472165, + -527.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1737.9628686835183, + -528.9927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1740.5609448948717, + -530.4927313057652, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1740.5609448948717, + -530.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1743.5609448948717, + -530.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1746.5609448948717, + -530.4927313057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1749.5609448948717, + -530.4927313057652, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1784.0, + -548.0, + 36.9497 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-14-55_1968217462/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-14-55_1968217462/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55e2f4344960bb87d2d9e3ae11140069906ea896 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-14-55_1968217462/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1529.1580105347807, + 333.3024862962975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1529.1580105347807, + 330.3024862962975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1529.1580105347807, + 327.3024862962975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1529.1580105347807, + 324.3024862962975, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1529.1580105347807, + 324.3024862962975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1530.6580105347807, + 321.7044100849442, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.1580105347807, + 319.10633387359087, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1533.6580105347807, + 316.50825766223755, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1533.6580105347807, + 316.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1533.6580105347807, + 313.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1533.6580105347807, + 310.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1533.6580105347807, + 307.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1533.6580105347807, + 304.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1533.6580105347807, + 301.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1533.6580105347807, + 298.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1533.6580105347807, + 295.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1533.6580105347807, + 292.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1533.6580105347807, + 289.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1533.6580105347807, + 286.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1533.6580105347807, + 283.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1533.6580105347807, + 280.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1533.6580105347807, + 277.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1533.6580105347807, + 274.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1533.6580105347807, + 271.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1533.6580105347807, + 268.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1533.6580105347807, + 265.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1533.6580105347807, + 262.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1533.6580105347807, + 259.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1533.6580105347807, + 256.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1533.6580105347807, + 253.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1533.6580105347807, + 250.50825766223755, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1533.6580105347807, + 247.50825766223755, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1532.0, + 200.0, + 39.6358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-16-55_802205057/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-16-55_802205057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b24769e1a9ba80130063e1f879d235f60483fe4b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-16-55_802205057/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1514.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1517.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1520.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1529.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1535.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1538.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1541.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1544.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1547.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1550.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1553.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1556.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1556.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1556.9520235388532, + -817.5159407423572, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1558.4520235388532, + -814.9178645310039, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1559.9520235388532, + -812.3197883196506, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1561.4520235388532, + -809.7217121082972, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1562.9520235388532, + -807.1236358969438, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1564.4520235388532, + -804.5255596855905, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1565.9520235388532, + -801.9274834742371, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1565.9520235388532, + -801.9274834742371, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1565.9520235388532, + -801.9274834742371, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1568.9520235388532, + -801.9274834742371, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1568.9520235388532, + -801.9274834742371, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1571.5500997502065, + -800.4274834742371, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1574.14817596156, + -798.9274834742371, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1574.14817596156, + -798.9274834742371, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1577.14817596156, + -798.9274834742371, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1577.14817596156, + -798.9274834742371, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1577.14817596156, + -798.9274834742371, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1578.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1578.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1578.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1581.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1584.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1587.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1587.64817596156, + -796.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1590.2462521729133, + -797.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1592.8443283842666, + -799.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1595.44240459562, + -800.8294072628837, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1595.44240459562, + -800.8294072628837, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1595.44240459562, + -800.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1595.44240459562, + -803.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1595.44240459562, + -806.8294072628837, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1595.44240459562, + -806.8294072628837, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1595.44240459562, + -806.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1598.0404808069734, + -808.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1600.6385570183268, + -809.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1603.2366332296801, + -811.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1605.8347094410335, + -812.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1608.4327856523869, + -814.3294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1611.0308618637403, + -815.8294072628837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1613.6289380750936, + -817.3294072628837, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1628.0, + -816.0, + 40.1465 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-19-23_126401947/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-19-23_126401947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52bb93654e4549fb279413f7edee439d446dc7d6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-19-23_126401947/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -945.2585543718475, + -1027.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -947.8566305832007, + -1029.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -950.4547067945541, + -1030.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -953.0527830059075, + -1032.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -955.6508592172609, + -1033.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -958.2489354286142, + -1035.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -960.8470116399676, + -1036.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -963.445087851321, + -1038.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -966.0431640626744, + -1039.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -968.6412402740277, + -1041.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -971.2393164853811, + -1042.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -973.8373926967345, + -1044.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -976.4354689080878, + -1045.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -979.0335451194412, + -1047.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -981.6316213307946, + -1048.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -984.229697542148, + -1050.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -986.8277737535013, + -1051.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -989.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -989.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -992.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -995.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -998.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1001.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1004.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1007.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1007.4258499648547, + -1053.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1010.0239261762081, + -1054.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1012.6220023875615, + -1056.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1015.2200785989148, + -1057.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1017.8181548102682, + -1059.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1020.4162310216216, + -1060.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1023.0143072329749, + -1062.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1025.6123834443283, + -1063.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1028.2104596556817, + -1065.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1030.808535867035, + -1066.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1033.4066120783884, + -1068.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1036.0046882897418, + -1069.8252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1038.6027645010952, + -1071.3252559102236, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1038.6027645010952, + -1071.3252559102236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1041.6027645010952, + -1071.3252559102236, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -3.1415926535898024 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1080.0, + 88.8733 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-20-21_1210359231/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-20-21_1210359231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bc72c30bd2b59e558e19699b0b9ab79a3477452 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-20-21_1210359231/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1149.150355658879, + -1094.2055595583238, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1147.650355658879, + -1096.8036357696772, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1146.150355658879, + -1099.4017119810305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1144.650355658879, + -1101.999788192384, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1143.150355658879, + -1104.5978644037373, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1141.650355658879, + -1107.1959406150906, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1140.150355658879, + -1109.794016826444, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1138.650355658879, + -1112.3920930377974, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1138.650355658879, + -1112.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1136.0522794475257, + -1113.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1133.4542032361724, + -1115.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1130.856127024819, + -1116.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1128.2580508134656, + -1118.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1125.6599746021122, + -1119.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1123.0618983907589, + -1121.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1120.4638221794055, + -1122.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1117.8657459680521, + -1124.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1115.2676697566988, + -1125.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1112.6695935453454, + -1127.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1110.071517333992, + -1128.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1107.4734411226386, + -1130.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1104.8753649112853, + -1131.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1102.277288699932, + -1133.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1099.6792124885785, + -1134.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1097.0811362772251, + -1136.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1094.4830600658718, + -1137.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1091.8849838545184, + -1139.3920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1089.286907643165, + -1140.8920930377974, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1089.286907643165, + -1140.8920930377974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1087.786907643165, + -1143.4901692491508, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1086.286907643165, + -1146.0882454605041, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1084.786907643165, + -1148.6863216718575, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1083.286907643165, + -1151.2843978832109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1081.786907643165, + -1153.8824740945643, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1080.286907643165, + -1156.4805503059176, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1078.786907643165, + -1159.078626517271, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1064.0, + -1172.0, + 38.3226 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-23-29_1905241081/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-23-29_1905241081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..354facd2f8ebc2f880f6eb377382067a6c2d6223 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-23-29_1905241081/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1383.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1386.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1389.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1392.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1395.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1398.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1398.7439747490853, + -1542.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1401.3420509604387, + -1541.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1403.940127171792, + -1539.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1406.5382033831454, + -1538.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1409.1362795944988, + -1536.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1411.7343558058521, + -1535.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1414.3324320172055, + -1533.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1416.930508228559, + -1532.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1419.5285844399123, + -1530.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1422.1266606512656, + -1529.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1424.724736862619, + -1527.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1427.3228130739724, + -1526.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1429.9208892853258, + -1524.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1432.5189654966791, + -1523.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1435.1170417080325, + -1521.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1437.7151179193859, + -1520.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1440.3131941307392, + -1518.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1442.9112703420926, + -1517.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1445.509346553446, + -1515.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1448.1074227647994, + -1514.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1450.7054989761527, + -1512.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1453.303575187506, + -1511.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1455.9016513988595, + -1509.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1458.4997276102129, + -1508.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1461.0978038215662, + -1506.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1463.6958800329196, + -1505.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1466.293956244273, + -1503.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1468.8920324556263, + -1502.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1471.4901086669797, + -1500.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1474.088184878333, + -1499.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1476.6862610896865, + -1497.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1479.2843373010398, + -1496.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1481.8824135123932, + -1494.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1484.4804897237466, + -1493.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1487.0785659351, + -1491.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1489.6766421464533, + -1490.350931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1492.2747183578067, + -1488.850931421782, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1494.87279456916, + -1487.350931421782, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + -1480.0, + 37.8127 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-23-57_2004187516/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-23-57_2004187516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e667b07e970c9b39819c0e505f5ff12b9bc77891 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-23-57_2004187516/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 251.54743242113287, + 1770.1477446567626, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 251.54743242113287, + 1773.1477446567626, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 251.54743242113287, + 1776.1477446567626, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 1876.0, + 90.4351 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-25-46_1372261796/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-25-46_1372261796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d497dfee86e59f4c7490180796055f29f41f896b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-25-46_1372261796/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1045.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1048.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1051.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1054.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1057.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1060.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1063.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1066.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1069.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1072.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1075.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1078.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1081.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1084.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1087.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1090.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1093.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1096.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1099.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1102.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1105.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1108.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1111.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1114.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1117.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1120.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1123.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1126.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1129.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1132.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1135.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1138.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1141.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1141.0772957752695, + 1203.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1143.6753719866228, + 1204.680279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1146.2734481979762, + 1206.180279438983, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1148.8715244093296, + 1207.680279438983, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1184.0, + 1208.0, + 34.4088 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-32-19_606199759/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-32-19_606199759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a30497c4e98f80e8ce0022f9afa1b0a2e24cb121 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-32-19_606199759/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1483.180288458306, + 431.9367259450574, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1480.180288458306, + 431.9367259450574, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1477.180288458306, + 431.9367259450574, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1474.180288458306, + 431.9367259450574, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1471.180288458306, + 431.9367259450574, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1344.0, + 432.0, + 51.1466 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-35-50_257675105/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-35-50_257675105/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfcbc235b6253a514aa5d34bbefa93c9af9afc90 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-35-50_257675105/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1258.1042305186145, + 718.1842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1260.7023067299679, + 719.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1263.3003829413212, + 721.1842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1265.8984591526746, + 722.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1268.496535364028, + 724.1842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1271.0946115753814, + 725.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1273.6926877867347, + 727.1842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1276.290763998088, + 728.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1278.8888402094415, + 730.1842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1281.4869164207948, + 731.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1284.0849926321482, + 733.1842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1286.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1286.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1289.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1292.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1295.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1298.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1301.6830688435016, + 734.6842552323868, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1384.0, + 768.0, + 26.2467 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-36-58_1965421244/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-36-58_1965421244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e2ace3b8c37879beb81863e5edc7fb1a8800503 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-36-58_1965421244/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 444.69253365909566, + -251.94132537241825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 446.19253365909566, + -249.34324916106493, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 447.69253365909566, + -246.74517294971162, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 449.19253365909566, + -244.1470967383583, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 450.69253365909566, + -241.54902052700498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 452.19253365909566, + -238.95094431565167, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 453.69253365909566, + -236.35286810429835, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 455.19253365909566, + -233.75479189294504, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 456.69253365909566, + -231.15671568159172, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 458.19253365909566, + -228.5586394702384, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 459.69253365909566, + -225.9605632588851, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 461.19253365909566, + -223.36248704753177, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 462.69253365909566, + -220.76441083617846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 464.19253365909566, + -218.16633462482514, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.69253365909566, + -215.56825841347182, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 467.19253365909566, + -212.9701822021185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 468.69253365909566, + -210.3721059907652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 470.19253365909566, + -207.77402977941188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 471.69253365909566, + -205.17595356805856, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.19253365909566, + -202.57787735670524, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 474.69253365909566, + -199.97980114535193, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 476.19253365909566, + -197.3817249339986, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 476.19253365909566, + -197.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 476.19253365909566, + -194.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 476.19253365909566, + -191.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 476.19253365909566, + -188.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.19253365909566, + -185.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 476.19253365909566, + -182.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 476.19253365909566, + -179.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 476.19253365909566, + -176.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 476.19253365909566, + -173.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 476.19253365909566, + -170.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 476.19253365909566, + -167.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 476.19253365909566, + -164.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 476.19253365909566, + -161.3817249339986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 476.19253365909566, + -158.3817249339986, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 484.0, + -132.0, + 149.422 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-39-25_937558955/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-39-25_937558955/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e8c2ba8ac7745d1a3a641cc9dd6c51af2b6d5ec --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-39-25_937558955/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1452.669319177248, + 861.805597888688, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1451.169319177248, + 859.2075216773346, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1449.669319177248, + 856.6094454659813, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1448.169319177248, + 854.0113692546279, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1446.669319177248, + 851.4132930432745, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1445.169319177248, + 848.8152168319211, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1443.669319177248, + 846.2171406205678, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1442.169319177248, + 843.6190644092144, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1440.669319177248, + 841.020988197861, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1439.169319177248, + 838.4229119865076, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1437.669319177248, + 835.8248357751543, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1436.169319177248, + 833.2267595638009, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1434.669319177248, + 830.6286833524475, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1433.169319177248, + 828.0306071410942, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1431.669319177248, + 825.4325309297408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1430.169319177248, + 822.8344547183874, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1428.669319177248, + 820.236378507034, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1427.169319177248, + 817.6383022956807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1425.669319177248, + 815.0402260843273, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1424.169319177248, + 812.4421498729739, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1422.669319177248, + 809.8440736616205, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1421.169319177248, + 807.2459974502672, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1419.669319177248, + 804.6479212389138, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1418.169319177248, + 802.0498450275604, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1416.669319177248, + 799.451768816207, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1415.169319177248, + 796.8536926048537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1413.669319177248, + 794.2556163935003, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1413.669319177248, + 794.2556163935003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1411.0712429658947, + 792.7556163935003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1408.4731667545414, + 791.2556163935003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1405.875090543188, + 789.7556163935003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1403.2770143318346, + 788.2556163935003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1400.6789381204812, + 786.7556163935003, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1384.0, + 768.0, + 26.2467 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-5-59_1647149314/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-5-59_1647149314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb6ac425f61415799e4c297fedbc8e345ed3b94c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-5-59_1647149314/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1644.061345654357, + 863.8995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1646.6594218657103, + 862.3995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1649.2574980770637, + 860.8995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1651.855574288417, + 859.3995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1654.4536504997704, + 857.8995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1657.0517267111238, + 856.3995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1659.6498029224772, + 854.8995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1662.2478791338306, + 853.3995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1664.845955345184, + 851.8995650523325, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1664.845955345184, + 851.8995650523325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1666.345955345184, + 849.3014888409791, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1667.845955345184, + 846.7034126296257, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1669.345955345184, + 844.1053364182724, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1670.845955345184, + 841.507260206919, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1672.345955345184, + 838.9091839955656, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1673.845955345184, + 836.3111077842123, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1675.345955345184, + 833.7130315728589, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1676.845955345184, + 831.1149553615055, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1678.345955345184, + 828.5168791501521, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1679.845955345184, + 825.9188029387988, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1681.345955345184, + 823.3207267274454, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1682.845955345184, + 820.722650516092, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1684.345955345184, + 818.1245743047386, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1685.845955345184, + 815.5264980933853, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1685.845955345184, + 815.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1688.4440315565373, + 814.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1691.0421077678907, + 812.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1693.640183979244, + 811.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1696.2382601905974, + 809.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1698.8363364019508, + 808.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1701.4344126133042, + 806.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1704.0324888246575, + 805.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1706.630565036011, + 803.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1709.2286412473643, + 802.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1711.8267174587177, + 800.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1714.424793670071, + 799.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1717.0228698814244, + 797.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1719.6209460927778, + 796.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1722.2190223041312, + 794.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1724.8170985154845, + 793.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1727.415174726838, + 791.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1730.0132509381913, + 790.0264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1732.6113271495446, + 788.5264980933853, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1732.6113271495446, + 788.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1735.6113271495446, + 788.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1738.6113271495446, + 788.5264980933853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1741.6113271495446, + 788.5264980933853, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1756.0, + 776.0, + 75.5029 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-52-29_524305153/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-52-29_524305153/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d1c587957dd5019feeefbba93aff0b79d8335f0 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-52-29_524305153/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1432.8022184689887, + 379.73546103503185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1432.8022184689887, + 376.73546103503185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1432.8022184689887, + 373.73546103503185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1432.8022184689887, + 370.73546103503185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1432.8022184689887, + 367.73546103503185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1432.8022184689887, + 364.73546103503185, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1432.8022184689887, + 364.73546103503185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1431.3022184689887, + 362.13738482367853, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1429.8022184689887, + 359.5393086123252, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1429.8022184689887, + 359.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1429.8022184689887, + 356.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1429.8022184689887, + 353.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1429.8022184689887, + 350.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1429.8022184689887, + 347.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1429.8022184689887, + 344.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1429.8022184689887, + 341.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1429.8022184689887, + 338.5393086123252, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1429.8022184689887, + 338.5393086123252, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1431.3022184689887, + 335.9412324009719, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1432.8022184689887, + 333.3431561896186, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1434.3022184689887, + 330.74507997826527, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1435.8022184689887, + 328.14700376691195, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1437.3022184689887, + 325.54892755555863, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1438.8022184689887, + 322.9508513442053, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1440.3022184689887, + 320.352775132852, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1441.8022184689887, + 317.7546989214987, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1443.3022184689887, + 315.15662271014537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1444.8022184689887, + 312.55854649879205, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1446.3022184689887, + 309.96047028743874, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1447.8022184689887, + 307.3623940760854, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1449.3022184689887, + 304.7643178647321, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1450.8022184689887, + 302.1662416533788, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1452.3022184689887, + 299.5681654420255, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1452.3022184689887, + 299.5681654420255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1454.900294680342, + 298.0681654420255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1457.4983708916955, + 296.5681654420255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1460.0964471030488, + 295.0681654420255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1462.6945233144022, + 293.5681654420255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1465.2925995257556, + 292.0681654420255, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1467.890675737109, + 290.5681654420255, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1488.0, + 248.0, + 33.497 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-6-56_1152645729/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-6-56_1152645729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..50f0bdd19d71656c80f942195ccb55d204c73367 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_21-6-56_1152645729/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1764.804177013862, + 275.9201363213699, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1766.304177013862, + 273.3220601100166, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1767.804177013862, + 270.7239838986633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1769.304177013862, + 268.12590768730996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1770.804177013862, + 265.52783147595665, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1772.304177013862, + 262.92975526460333, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1773.804177013862, + 260.33167905325, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1775.304177013862, + 257.7336028418967, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1776.804177013862, + 255.13552663054338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1778.304177013862, + 252.53745041919007, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1779.804177013862, + 249.93937420783675, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1781.304177013862, + 247.34129799648343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1782.804177013862, + 244.74322178513012, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1784.304177013862, + 242.1451455737768, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1785.804177013862, + 239.54706936242349, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1787.304177013862, + 236.94899315107017, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1788.804177013862, + 234.35091693971685, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1790.304177013862, + 231.75284072836354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1791.804177013862, + 229.15476451701022, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1793.304177013862, + 226.5566883056569, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1794.804177013862, + 223.9586120943036, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1796.304177013862, + 221.36053588295027, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1797.804177013862, + 218.76245967159696, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1797.804177013862, + 218.76245967159696, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1797.804177013862, + 215.76245967159696, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1797.804177013862, + 212.76245967159696, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1797.804177013862, + 209.76245967159696, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1820.0, + 168.0, + 101.604 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-24-6_1669679262/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-24-6_1669679262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b05e3cce4def015d89bba87055b062a8bd04665 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-24-6_1669679262/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 976.6487777465483, + 816.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 974.050701535195, + 818.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 971.4526253238416, + 819.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 968.8545491124883, + 821.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 966.2564729011349, + 822.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 963.6583966897815, + 824.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 961.0603204784281, + 825.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 958.4622442670748, + 827.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 955.8641680557214, + 828.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 953.266091844368, + 830.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 950.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 950.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 947.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 944.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 941.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 938.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 935.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 932.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 929.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 926.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 923.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 923.6680156330146, + 831.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 921.0699394216613, + 833.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 918.4718632103079, + 834.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 915.8737869989545, + 836.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 913.2757107876012, + 837.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 910.6776345762478, + 839.2924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 908.0795583648944, + 840.7924258208002, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 905.481482153541, + 842.2924258208002, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 868.0, + 856.0, + 65.6163 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-27-26_217927335/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-27-26_217927335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b55c005983ec24cadbdbd8dd4e232f290e01a0c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-27-26_217927335/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 942.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 939.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 936.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 933.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 930.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 927.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 924.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 921.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 918.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 918.7975669925911, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 916.1994907812377, + -1027.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 913.6014145698844, + -1028.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 911.003338358531, + -1030.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 908.4052621471776, + -1031.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 905.8071859358242, + -1033.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 903.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 903.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 900.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 897.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 894.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 891.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 888.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 885.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 882.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 879.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 876.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 873.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 870.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 867.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 864.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 864.2091097244709, + -1034.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 861.6110335131175, + -1033.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 859.0129573017641, + -1031.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 856.4148810904107, + -1030.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 853.8168048790574, + -1028.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 851.218728667704, + -1027.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 848.6206524563506, + -1025.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 846.0225762449973, + -1024.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 843.4245000336439, + -1022.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 840.8264238222905, + -1021.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 838.2283476109371, + -1019.6118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 835.6302713995838, + -1018.1118488742213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 833.0321951882304, + -1016.6118488742213, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 812.0, + -1012.0, + 90.1836 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-27-54_590335821/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-27-54_590335821/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..825615787dd13d48bb96ca13255ea5c92e884b3e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-27-54_590335821/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1700.3998587569054, + 1313.1728424609169, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1698.8998587569054, + 1310.5747662495635, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1697.3998587569054, + 1307.97669003821, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1695.8998587569054, + 1305.3786138268567, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1694.3998587569054, + 1302.7805376155034, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1692.8998587569054, + 1300.18246140415, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1691.3998587569054, + 1297.5843851927966, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1689.8998587569054, + 1294.9863089814432, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1688.3998587569054, + 1292.3882327700899, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1686.8998587569054, + 1289.7901565587365, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1685.3998587569054, + 1287.1920803473831, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1683.8998587569054, + 1284.5940041360298, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1682.3998587569054, + 1281.9959279246764, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1680.8998587569054, + 1279.397851713323, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1679.3998587569054, + 1276.7997755019696, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1677.8998587569054, + 1274.2016992906163, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1676.3998587569054, + 1271.603623079263, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1674.8998587569054, + 1269.0055468679095, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1673.3998587569054, + 1266.4074706565561, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1671.8998587569054, + 1263.8093944452028, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1670.3998587569054, + 1261.2113182338494, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1668.8998587569054, + 1258.613242022496, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1667.3998587569054, + 1256.0151658111427, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1665.8998587569054, + 1253.4170895997893, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1664.3998587569054, + 1250.819013388436, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1662.8998587569054, + 1248.2209371770825, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1662.8998587569054, + 1248.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1662.8998587569054, + 1245.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1662.8998587569054, + 1242.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1662.8998587569054, + 1239.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1662.8998587569054, + 1236.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1662.8998587569054, + 1233.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1662.8998587569054, + 1230.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1662.8998587569054, + 1227.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1662.8998587569054, + 1224.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1662.8998587569054, + 1221.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1662.8998587569054, + 1218.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1662.8998587569054, + 1215.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1662.8998587569054, + 1212.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1662.8998587569054, + 1209.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1662.8998587569054, + 1206.2209371770825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1662.8998587569054, + 1203.2209371770825, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1652.0, + 1172.0, + 41.1074 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-33-11_932862806/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-33-11_932862806/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10bc5c1758b92f369303ca595de35915feca0628 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-33-11_932862806/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1351.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1348.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1345.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1342.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1339.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1336.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1333.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1330.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1327.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1324.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1321.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1321.672073807084, + -1000.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1319.0739975957306, + -998.6330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1316.4759213843772, + -997.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1313.8778451730238, + -995.6330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1311.2797689616705, + -994.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1308.681692750317, + -992.6330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1306.0836165389637, + -991.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1303.4855403276104, + -989.6330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1300.887464116257, + -988.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1298.2893879049036, + -986.6330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1295.6913116935502, + -985.1330220617841, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1295.6913116935502, + -985.1330220617841, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1294.1913116935502, + -982.5349458504309, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1292.6913116935502, + -979.9368696390775, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1248.0, + -964.0, + 62.3689 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-48-51_833215350/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-48-51_833215350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd8140647166e9810b59fa5c2f2299edb7926f07 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-48-51_833215350/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1335.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1332.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1329.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1326.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1323.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1320.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1317.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1314.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1311.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1308.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1305.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1302.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1299.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1296.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1293.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1290.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1287.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1284.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1281.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1278.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1275.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1272.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1269.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1266.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1263.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1260.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1257.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1254.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1251.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1248.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1245.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1242.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1239.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1236.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1233.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1230.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1227.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1224.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1221.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1221.5177880658116, + -731.7799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1218.9197118544582, + -730.2799669571873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1216.3216356431049, + -728.7799669571873, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1192.0, + -728.0, + 54.287 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-53-43_820097487/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-53-43_820097487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..42ca5d974fa962c7334eb985e934d49a9dfebb20 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-53-43_820097487/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1694.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1691.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1688.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1685.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1682.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1679.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1676.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1676.2227524483856, + 274.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1673.6246762370322, + 276.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1671.0266000256788, + 277.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1668.4285238143254, + 279.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1665.830447602972, + 280.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1663.2323713916187, + 282.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1660.6342951802653, + 283.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1658.036218968912, + 285.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1655.4381427575586, + 286.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1652.8400665462052, + 288.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1650.2419903348518, + 289.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1647.6439141234985, + 291.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1645.045837912145, + 292.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1642.4477617007917, + 294.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1639.8496854894383, + 295.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1637.251609278085, + 297.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1634.6535330667316, + 298.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1632.0554568553782, + 300.4725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1629.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1629.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1626.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1623.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1620.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1617.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1614.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1611.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1608.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1605.4573806440249, + 301.9725760934605, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1556.0, + 316.0, + 42.4092 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-54-37_1735079296/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-54-37_1735079296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e453a2e201677aba5185bb606bb6a4d7889c9f4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-54-37_1735079296/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 274.35687026564005, + 1060.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 271.75879405428674, + 1059.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.1607178429334, + 1057.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 266.5626416315801, + 1056.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 263.9645654202268, + 1054.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.3664892088735, + 1053.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.76841299752016, + 1051.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 256.17033678616684, + 1050.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 253.57226057481353, + 1048.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 250.9741843634602, + 1047.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 248.3761081521069, + 1045.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 245.77803194075358, + 1044.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 243.17995572940026, + 1042.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 240.58187951804695, + 1041.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 237.98380330669363, + 1039.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 235.38572709534031, + 1038.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 232.787650883987, + 1036.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.18957467263368, + 1035.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 227.59149846128037, + 1033.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 224.99342224992705, + 1032.4737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 222.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 219.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 216.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 213.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 210.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 207.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 204.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 201.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 198.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 195.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 192.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 189.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 186.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 183.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 180.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 177.39534603857373, + 1030.9737672810256, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 144.0, + 1020.0, + 145.009 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-55-34_2006138722/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-55-34_2006138722/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3cbad39d0351eaa63252f75eaec7580541d1549 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-55-34_2006138722/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1012.3468763867655, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1015.3468763867655, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1018.3468763867655, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1021.3468763867655, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1024.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1027.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1030.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1033.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1036.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1039.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1042.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1045.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1048.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1051.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1054.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1057.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1060.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1063.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1066.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1069.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1072.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1075.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1078.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1078.3468763867654, + 1051.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1080.9449525981188, + 1052.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1083.5430288094722, + 1054.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1086.1411050208255, + 1055.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1088.739181232179, + 1057.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1091.3372574435323, + 1058.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1093.9353336548857, + 1060.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1096.533409866239, + 1061.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1099.1314860775924, + 1063.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1101.7295622889458, + 1064.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1104.3276385002991, + 1066.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1106.9257147116525, + 1067.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1109.523790923006, + 1069.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1112.1218671343593, + 1070.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1114.7199433457126, + 1072.3023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1117.318019557066, + 1073.8023202591842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1119.9160957684194, + 1075.3023202591842, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 1080.0, + 90.745 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-58-22_1242990415/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-58-22_1242990415/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d16bb7998ebd96a743f18de08f3d4e3757c5d2b1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_22-58-22_1242990415/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -208.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -211.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -214.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -217.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -220.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -223.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -226.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -229.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -235.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -238.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -241.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -244.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -247.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -250.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -253.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -256.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -256.5986998905608, + 132.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -259.1967761019141, + 131.35578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -261.7948523132674, + 129.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -264.39292852462074, + 128.35578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.99100473597406, + 126.85578872076908, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -269.5890809473274, + 125.35578872076908, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -320.0, + 116.0, + 153.562 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-0-53_420687483/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-0-53_420687483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb94a6fc300e8274c361b7192537e9a1f89974e9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-0-53_420687483/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1423.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1426.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1429.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1432.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1435.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1438.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1441.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1444.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1447.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1450.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1453.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1456.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1459.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1459.4365792037495, + 1552.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1462.0346554151029, + 1554.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1464.6327316264562, + 1555.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1467.2308078378096, + 1557.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1469.828884049163, + 1558.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1472.4269602605164, + 1560.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1475.0250364718697, + 1561.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1477.623112683223, + 1563.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1480.2211888945765, + 1564.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1482.8192651059298, + 1566.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1485.4173413172832, + 1567.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1488.0154175286366, + 1569.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1490.61349373999, + 1570.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1493.2115699513433, + 1572.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1495.8096461626967, + 1573.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1498.40772237405, + 1575.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1501.0057985854035, + 1576.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1503.6038747967568, + 1578.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1506.2019510081102, + 1579.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1508.8000272194636, + 1581.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1511.398103430817, + 1582.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1513.9961796421703, + 1584.163734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1516.5942558535237, + 1585.663734245353, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1519.192332064877, + 1587.163734245353, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 1596.0, + 54.2907 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-10-12_500037525/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-10-12_500037525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5360e80a1c52b6c243eb2a74c07dc46c5d2124b6 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-10-12_500037525/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 324.8723879613058, + 264.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 322.27431174995246, + 263.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 319.67623553859914, + 261.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 317.0781593272458, + 260.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 314.4800831158925, + 258.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 311.8820069045392, + 257.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 309.2839306931859, + 255.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 306.68585448183256, + 254.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 304.08777827047925, + 252.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 301.48970205912593, + 251.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 298.8916258477726, + 249.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 296.2935496364193, + 248.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 293.695473425066, + 246.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 291.09739721371267, + 245.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.49932100235935, + 243.93636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 285.90124479100604, + 242.43636485490975, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.90124479100604, + 242.43636485490975, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 284.40124479100604, + 239.83828864355644, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 282.90124479100604, + 237.24021243220312, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 281.40124479100604, + 234.6421362208498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 279.90124479100604, + 232.0440600094965, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 278.40124479100604, + 229.44598379814317, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.90124479100604, + 226.84790758678986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 275.40124479100604, + 224.24983137543654, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 273.90124479100604, + 221.65175516408323, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 272.40124479100604, + 219.0536789527299, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 270.90124479100604, + 216.4556027413766, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 270.90124479100604, + 216.4556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 268.3031685796527, + 214.9556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 265.7050923682994, + 213.4556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 263.1070161569461, + 211.9556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 260.5089399455928, + 210.4556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 257.91086373423946, + 208.9556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 255.31278752288614, + 207.4556027413766, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 255.31278752288614, + 207.4556027413766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 253.81278752288614, + 204.85752653002328, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 180.0, + 396.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-11-25_1787897525/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-11-25_1787897525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b275b1caa7042a30c9cdff51f37ca754cc6bed05 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-11-25_1787897525/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1009.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1012.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1015.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1018.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1021.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1021.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1021.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1021.893758069451, + -1700.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1021.893758069451, + -1703.5432777140145, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1021.893758069451, + -1703.5432777140145, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1021.893758069451, + -1703.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1024.4918342808044, + -1705.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1027.0899104921577, + -1706.5432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1029.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1029.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1032.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1035.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1038.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1041.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1044.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1047.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1050.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1053.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1056.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1059.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1062.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1065.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1068.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1071.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1074.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1077.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1080.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1083.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1086.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1089.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1092.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1092.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1092.6879867035111, + -1708.0432777140145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1094.1879867035111, + -1705.4452015026611, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1095.6879867035111, + -1702.8471252913077, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1095.6879867035111, + -1702.8471252913077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1098.2860629148645, + -1701.3471252913077, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1156.0, + -1700.0, + 38.0421 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-22-28_1936060910/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-22-28_1936060910/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76e6d3ecd50b05230d49218a3dd713488a22f5e2 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-22-28_1936060910/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 394.4569383416453, + 433.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.0550145529986, + 435.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.65309076435193, + 436.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.25116697570525, + 438.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 404.84924318705856, + 439.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 407.4473193984119, + 441.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 410.0453956097652, + 442.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 412.6434718211185, + 444.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 415.2415480324718, + 445.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 417.83962424382514, + 447.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 420.43770045517846, + 448.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.0357766665318, + 450.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 425.6338528778851, + 451.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.2319290892384, + 453.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 430.8300053005917, + 454.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 433.42808151194504, + 456.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 436.02615772329835, + 457.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 438.62423393465167, + 459.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 441.222310146005, + 460.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 443.8203863573583, + 462.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.4184625687116, + 463.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 449.01653878006493, + 465.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 451.61461499141825, + 466.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.21269120277157, + 468.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 456.8107674141249, + 469.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 459.4088436254782, + 471.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 462.0069198368315, + 472.5683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 464.60499604818483, + 474.0683267329429, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 464.60499604818483, + 474.0683267329429, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 466.10499604818483, + 476.66640294429624, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 467.60499604818483, + 479.26447915564955, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 469.10499604818483, + 481.86255536700287, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 470.60499604818483, + 484.4606315783562, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 472.10499604818483, + 487.0587077897095, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 473.60499604818483, + 489.6567840010628, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 475.10499604818483, + 492.25486021241613, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 500.0, + 508.0, + 153.926 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-25-51_646755199/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-25-51_646755199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e392d2bf543781d12ebe972905c612dbb9668363 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-25-51_646755199/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1292.7041145195278, + 724.8905002395542, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1294.2041145195278, + 722.2924240282009, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1295.7041145195278, + 719.6943478168475, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1297.2041145195278, + 717.0962716054942, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1298.7041145195278, + 714.4981953941408, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1300.2041145195278, + 711.9001191827874, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1301.7041145195278, + 709.302042971434, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1303.2041145195278, + 706.7039667600807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1304.7041145195278, + 704.1058905487273, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1306.2041145195278, + 701.5078143373739, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1307.7041145195278, + 698.9097381260206, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1309.2041145195278, + 696.3116619146672, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1310.7041145195278, + 693.7135857033138, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1312.2041145195278, + 691.1155094919604, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1313.7041145195278, + 688.5174332806071, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1315.2041145195278, + 685.9193570692537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1316.7041145195278, + 683.3212808579003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1318.2041145195278, + 680.723204646547, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1319.7041145195278, + 678.1251284351936, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1321.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1321.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1321.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1324.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1327.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1330.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1333.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1336.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1339.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1342.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1345.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1348.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1351.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1354.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1357.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1360.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1363.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1363.2041145195278, + 675.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1365.8021907308812, + 674.0270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1368.4002669422346, + 672.5270522238402, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1370.998343153588, + 671.0270522238402, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1416.0, + 640.0, + 58.5254 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-31-44_1476453195/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-31-44_1476453195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff18bc08a793dbcad1420d1b60e3d1d6a0f2bf76 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-31-44_1476453195/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1462.3312906697329, + 318.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1464.9293668810863, + 320.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1467.5274430924396, + 321.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1470.125519303793, + 323.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1472.7235955151464, + 324.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1475.3216717264997, + 326.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1477.9197479378531, + 327.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1480.5178241492065, + 329.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1483.1159003605599, + 330.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1485.7139765719132, + 332.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1488.3120527832666, + 333.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1490.91012899462, + 335.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1493.5082052059734, + 336.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1496.1062814173267, + 338.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1498.70435762868, + 339.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1501.3024338400335, + 341.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1503.9005100513868, + 342.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1506.4985862627402, + 344.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1509.0966624740936, + 345.60441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1511.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1511.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1514.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1517.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1520.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1523.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1526.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1529.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1532.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1535.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1538.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1541.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1544.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1547.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1550.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1553.694738685447, + 347.10441357400686, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1600.0, + 360.0, + 36.036 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-32-59_2060975266/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-32-59_2060975266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e432eb585cd7ec6b0dab0bc63df86d614c8d2d37 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-32-59_2060975266/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1745.092719111707, + -168.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1748.092719111707, + -168.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1751.092719111707, + -168.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1754.092719111707, + -168.83774234394448, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1754.092719111707, + -168.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1756.6907953230605, + -167.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1759.2888715344138, + -165.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1761.8869477457672, + -164.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1764.4850239571206, + -162.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1767.083100168474, + -161.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1769.6811763798273, + -159.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1772.2792525911807, + -158.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1774.877328802534, + -156.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1777.4754050138874, + -155.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1780.0734812252408, + -153.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1782.6715574365942, + -152.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1785.2696336479476, + -150.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1787.867709859301, + -149.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1790.4657860706543, + -147.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1793.0638622820077, + -146.33774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1795.661938493361, + -144.83774234394448, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1798.2600147047144, + -143.33774234394448, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + -112.0, + 90.7757 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-35-10_1151297278/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-35-10_1151297278/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ac1298efda2e0cdd450d2a34965e244a952b05b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-35-10_1151297278/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1204.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1207.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1210.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1213.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1216.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1219.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1222.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1225.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1228.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1231.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1234.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1237.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1240.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1243.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1246.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1249.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1252.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1255.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1258.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1261.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1264.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1267.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1270.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1273.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1276.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1279.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1279.4796415079545, + 191.78088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1282.0777177193079, + 193.28088611340914, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1284.6757939306613, + 194.78088611340914, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + 196.0, + 28.127 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-45-0_750167716/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-45-0_750167716/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34287fb0f6046fd7309447156bb41845ddffe4c5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-45-0_750167716/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -646.9491087445531, + 1353.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -649.5471849559065, + 1354.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -652.1452611672598, + 1356.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -654.7433373786132, + 1357.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -657.3414135899666, + 1359.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -659.93948980132, + 1360.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -662.5375660126733, + 1362.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -665.1356422240267, + 1363.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -667.7337184353801, + 1365.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -670.3317946467334, + 1366.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -672.9298708580868, + 1368.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -675.5279470694402, + 1369.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -678.1260232807936, + 1371.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -680.7240994921469, + 1372.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -683.3221757035003, + 1374.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -685.9202519148537, + 1375.5821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -688.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -691.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -694.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -697.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -703.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -706.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -709.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -712.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -715.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -718.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -721.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -724.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -727.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -730.518328126207, + 1377.0821322630807, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -772.0, + 1388.0, + 34.2203 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-45-50_915711850/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-45-50_915711850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a751ea2922ef3c847c6e99a627cfc10b46c3aaf9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-45-50_915711850/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1606.9805880271178, + -1077.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1606.9805880271178, + -1080.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1606.9805880271178, + -1083.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1606.9805880271178, + -1086.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1606.9805880271178, + -1089.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1606.9805880271178, + -1092.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1606.9805880271178, + -1095.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1606.9805880271178, + -1098.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1606.9805880271178, + -1101.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1606.9805880271178, + -1104.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1606.9805880271178, + -1107.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1606.9805880271178, + -1110.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1606.9805880271178, + -1113.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1606.9805880271178, + -1116.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1606.9805880271178, + -1119.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1606.9805880271178, + -1122.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1606.9805880271178, + -1125.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1606.9805880271178, + -1128.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1606.9805880271178, + -1131.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1606.9805880271178, + -1134.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1606.9805880271178, + -1137.0918559112274, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1606.9805880271178, + -1137.0918559112274, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1605.4805880271178, + -1139.6899321225808, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1603.9805880271178, + -1142.2880083339342, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1602.4805880271178, + -1144.8860845452875, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1600.9805880271178, + -1147.484160756641, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1599.4805880271178, + -1150.0822369679943, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1597.9805880271178, + -1152.6803131793476, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1596.4805880271178, + -1155.278389390701, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1594.9805880271178, + -1157.8764656020544, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1593.4805880271178, + -1160.4745418134078, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1591.9805880271178, + -1163.0726180247611, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1590.4805880271178, + -1165.6706942361145, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1588.9805880271178, + -1168.268770447468, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1587.4805880271178, + -1170.8668466588213, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1585.9805880271178, + -1173.4649228701746, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1580.0, + -1192.0, + 57.6777 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-47-3_1738076217/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-47-3_1738076217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..425b5e8e41788f5d26209396e90eb44e77f93b9c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-47-3_1738076217/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1289.398414672431, + 945.1475165634283, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1289.398414672431, + 942.1475165634283, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1289.398414672431, + 939.1475165634283, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1289.398414672431, + 936.1475165634283, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1289.398414672431, + 936.1475165634283, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1290.898414672431, + 933.549440352075, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1292.398414672431, + 930.9513641407216, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1320.0, + 812.0, + 47.3632 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-5-49_617909211/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-5-49_617909211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a9a57172d2a10abf8832b8321d8f733a1d63097 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-5-49_617909211/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 833.1727794484293, + 1692.8176458941764, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 831.6727794484293, + 1695.4157221055298, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 830.1727794484293, + 1698.0137983168831, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 828.6727794484293, + 1700.6118745282365, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 827.1727794484293, + 1703.2099507395899, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 825.6727794484293, + 1705.8080269509433, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 824.1727794484293, + 1708.4061031622966, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 822.6727794484293, + 1711.00417937365, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 821.1727794484293, + 1713.6022555850034, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 819.6727794484293, + 1716.2003317963567, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 818.1727794484293, + 1718.7984080077101, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 816.6727794484293, + 1721.3964842190635, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 815.1727794484293, + 1723.9945604304169, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 813.6727794484293, + 1726.5926366417702, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 812.1727794484293, + 1729.1907128531236, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 810.6727794484293, + 1731.788789064477, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 809.1727794484293, + 1734.3868652758304, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 807.6727794484293, + 1736.9849414871837, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 806.1727794484293, + 1739.583017698537, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 806.1727794484293, + 1739.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 806.1727794484293, + 1742.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 806.1727794484293, + 1745.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 806.1727794484293, + 1748.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 806.1727794484293, + 1751.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 806.1727794484293, + 1754.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 806.1727794484293, + 1757.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 806.1727794484293, + 1760.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 806.1727794484293, + 1763.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 806.1727794484293, + 1766.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 806.1727794484293, + 1769.583017698537, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 806.1727794484293, + 1772.583017698537, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 800.0, + 1792.0, + 80.2384 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-51-56_916018859/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-51-56_916018859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e80c129b3219b03c0b1627e88a9ec7584937f4e4 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-51-56_916018859/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1426.9541661404508, + -597.1600521066391, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1428.4541661404508, + -599.7581283179925, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1429.9541661404508, + -602.3562045293459, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1431.4541661404508, + -604.9542807406992, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1432.9541661404508, + -607.5523569520526, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1434.4541661404508, + -610.150433163406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1435.9541661404508, + -612.7485093747594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1437.4541661404508, + -615.3465855861127, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1438.9541661404508, + -617.9446617974661, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1440.4541661404508, + -620.5427380088195, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1441.9541661404508, + -623.1408142201728, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1443.4541661404508, + -625.7388904315262, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1444.9541661404508, + -628.3369666428796, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1446.4541661404508, + -630.935042854233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1447.9541661404508, + -633.5331190655863, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1449.4541661404508, + -636.1311952769397, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1450.9541661404508, + -638.7292714882931, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1452.4541661404508, + -641.3273476996465, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1453.9541661404508, + -643.9254239109998, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1455.4541661404508, + -646.5235001223532, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1455.4541661404508, + -646.5235001223532, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1455.4541661404508, + -649.5235001223532, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1455.4541661404508, + -652.5235001223532, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1476.0, + -692.0, + 30.496 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-52-12_222028828/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-52-12_222028828/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a19e04f871f17e59401c1ae5f8f203d9ebf5c5e --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-52-12_222028828/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1762.78302260788, + -1041.6722765630593, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1761.28302260788, + -1039.074200351706, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1759.78302260788, + -1036.4761241403526, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1758.28302260788, + -1033.8780479289992, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1756.78302260788, + -1031.2799717176458, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1755.28302260788, + -1028.6818955062924, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1753.78302260788, + -1026.083819294939, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1752.28302260788, + -1023.4857430835857, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1750.78302260788, + -1020.8876668722323, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1749.28302260788, + -1018.289590660879, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1747.78302260788, + -1015.6915144495256, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1746.28302260788, + -1013.0934382381722, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1744.78302260788, + -1010.4953620268188, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1743.28302260788, + -1007.8972858154655, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1741.78302260788, + -1005.2992096041121, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1740.28302260788, + -1002.7011333927587, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1738.78302260788, + -1000.1030571814053, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1737.28302260788, + -997.504980970052, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1735.78302260788, + -994.9069047586986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1734.28302260788, + -992.3088285473452, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1732.78302260788, + -989.7107523359919, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1731.28302260788, + -987.1126761246385, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1729.78302260788, + -984.5145999132851, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1728.28302260788, + -981.9165237019317, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1726.78302260788, + -979.3184474905784, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1725.28302260788, + -976.720371279225, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1723.78302260788, + -974.1222950678716, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1722.28302260788, + -971.5242188565182, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1722.28302260788, + -971.5242188565182, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1722.28302260788, + -968.5242188565182, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1722.28302260788, + -965.5242188565182, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1708.0, + -936.0, + 95.9913 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-53-49_1866355856/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-53-49_1866355856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e2504a531a017b70d46dbe90fa9e008426e22a3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-53-49_1866355856/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1018.470748272888, + -496.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1021.0688244842413, + -495.34258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1023.6669006955947, + -493.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1026.264976906948, + -492.34258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1028.8630531183014, + -490.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1031.4611293296548, + -489.34258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1034.0592055410082, + -487.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1036.6572817523615, + -486.34258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1039.255357963715, + -484.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1041.8534341750683, + -483.34258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1044.4515103864217, + -481.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1047.049586597775, + -480.34258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1049.6476628091284, + -478.84258845507986, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1049.6476628091284, + -478.84258845507986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1051.1476628091284, + -476.24451224372655, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1052.6476628091284, + -473.64643603237323, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1054.1476628091284, + -471.0483598210199, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1055.6476628091284, + -468.4502836096666, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1057.1476628091284, + -465.8522073983133, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1058.6476628091284, + -463.25413118695997, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1100.0, + -432.0, + 56.6188 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-56-32_2083149517/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-56-32_2083149517/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bfba2b6ea48fc2aa0887f38635fc8cda84ff2f1 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-56-32_2083149517/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1730.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1733.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1736.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1739.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1742.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1742.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1742.509514582854, + 1119.4607699032306, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1744.009514582854, + 1116.8626936918772, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1745.509514582854, + 1114.2646174805238, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1747.009514582854, + 1111.6665412691705, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1748.509514582854, + 1109.068465057817, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1750.009514582854, + 1106.4703888464637, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1751.509514582854, + 1103.8723126351103, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1753.009514582854, + 1101.274236423757, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1754.509514582854, + 1098.6761602124036, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1756.009514582854, + 1096.0780840010502, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1757.509514582854, + 1093.4800077896969, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1759.009514582854, + 1090.8819315783435, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1760.509514582854, + 1088.28385536699, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1762.009514582854, + 1085.6857791556367, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1762.009514582854, + 1085.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1764.6075907942075, + 1084.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1767.2056670055608, + 1082.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1769.8037432169142, + 1081.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1772.4018194282676, + 1079.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1774.999895639621, + 1078.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1777.5979718509743, + 1076.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1780.1960480623277, + 1075.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1782.794124273681, + 1073.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1785.3922004850344, + 1072.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1787.9902766963878, + 1070.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1790.5883529077412, + 1069.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1793.1864291190946, + 1067.6857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1795.784505330448, + 1066.1857791556367, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1798.3825815418013, + 1064.6857791556367, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1840.0, + 1028.0, + 28.9485 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-59-1_900104667/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-59-1_900104667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87c071402d8b7dcca56ff7be1a68457bfd7f1379 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-59-1_900104667/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1436.1853753623798, + -283.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1438.7834515737331, + -282.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1441.3815277850865, + -280.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1443.97960399644, + -279.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1446.5776802077933, + -277.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1449.1757564191466, + -276.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1451.7738326305, + -274.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1454.3719088418534, + -273.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1456.9699850532068, + -271.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1459.5680612645601, + -270.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1462.1661374759135, + -268.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1464.7642136872669, + -267.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1467.3622898986202, + -265.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1469.9603661099736, + -264.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1472.558442321327, + -262.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1475.1565185326804, + -261.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1477.7545947440337, + -259.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1480.352670955387, + -258.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1482.9507471667405, + -256.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1485.5488233780939, + -255.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1488.1468995894472, + -253.5359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1490.7449758008006, + -252.0359970724594, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1490.7449758008006, + -252.0359970724594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1492.2449758008006, + -249.43792086110608, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1493.7449758008006, + -246.83984464975276, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1495.2449758008006, + -244.24176843839945, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1496.7449758008006, + -241.64369222704613, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1498.2449758008006, + -239.04561601569281, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1499.7449758008006, + -236.4475398043395, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1501.2449758008006, + -233.84946359298618, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1502.7449758008006, + -231.25138738163287, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1504.2449758008006, + -228.65331117027955, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1505.7449758008006, + -226.05523495892623, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1507.2449758008006, + -223.45715874757292, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1507.2449758008006, + -223.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1507.2449758008006, + -220.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1507.2449758008006, + -217.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1507.2449758008006, + -214.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1507.2449758008006, + -211.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1507.2449758008006, + -208.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1507.2449758008006, + -205.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1507.2449758008006, + -202.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1507.2449758008006, + -199.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1507.2449758008006, + -196.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1507.2449758008006, + -193.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1507.2449758008006, + -190.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1507.2449758008006, + -187.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1507.2449758008006, + -184.45715874757292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1507.2449758008006, + -181.45715874757292, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1520.0, + -164.0, + 38.5852 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-6-9_1412277685/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-6-9_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54afd4711cd23b2d7d6d728ddc38b4da952a36a7 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-6-9_1412277685/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 798.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 795.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 792.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 789.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 786.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 783.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 780.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 777.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 774.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 771.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 768.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 765.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 762.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 759.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 756.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 753.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 753.5797703971431, + 554.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 750.9816941857898, + 555.9656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 748.3836179744364, + 557.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 745.7855417630831, + 558.9656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 743.1874655517297, + 560.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 740.5893893403763, + 561.9656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 737.991313129023, + 563.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 735.3932369176696, + 564.9656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 732.7951607063162, + 566.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 730.1970844949628, + 567.9656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 727.5990082836095, + 569.4656821621343, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 727.5990082836095, + 569.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 724.5990082836095, + 569.4656821621343, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 721.5990082836095, + 569.4656821621343, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 688.0, + 576.0, + 114.012 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-8-22_305197314/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-8-22_305197314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c6848cb0e1c7859cb92914555fdb1fff2e67cda --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-8_23-8-22_305197314/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1435.4433985723927, + -247.7394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1438.041474783746, + -246.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1440.6395509950994, + -244.7394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1443.2376272064528, + -243.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1445.8357034178061, + -241.7394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1448.4337796291595, + -240.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1451.031855840513, + -238.7394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1453.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1453.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1456.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1459.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1462.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1465.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1468.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1471.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1474.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1477.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1477.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1477.6299320518663, + -237.2394246464297, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1479.1299320518663, + -234.6413484350764, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1480.6299320518663, + -232.04327222372308, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1480.6299320518663, + -232.04327222372308, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1483.2280082632196, + -230.54327222372308, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1483.2280082632196, + -230.54327222372308, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1484.7280082632196, + -227.94519601236976, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1486.2280082632196, + -225.34711980101645, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1487.7280082632196, + -222.74904358966313, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1489.2280082632196, + -220.15096737830982, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1490.7280082632196, + -217.5528911669565, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1492.2280082632196, + -214.95481495560318, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1493.7280082632196, + -212.35673874424987, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1495.2280082632196, + -209.75866253289655, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1496.7280082632196, + -207.16058632154324, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1498.2280082632196, + -204.56251011018992, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1499.7280082632196, + -201.9644338988366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1501.2280082632196, + -199.3663576874833, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1502.7280082632196, + -196.76828147612997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1504.2280082632196, + -194.17020526477665, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1528.0, + -172.0, + 53.2666 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-14-56_1872666833/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-14-56_1872666833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5d642bdfba535e570fb2a905b671bb2d3496a93 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-14-56_1872666833/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1057.805963570204, + -274.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1060.805963570204, + -274.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1063.805963570204, + -274.2691223282344, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1063.805963570204, + -274.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1066.4040397815575, + -272.7691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1069.0021159929108, + -271.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1071.6001922042642, + -269.7691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1074.1982684156176, + -268.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1076.796344626971, + -266.7691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1079.3944208383243, + -265.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1081.9924970496777, + -263.7691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1084.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1084.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1087.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1090.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1093.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1096.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1099.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1102.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1105.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1108.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1111.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1114.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1117.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1120.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1123.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1126.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1129.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1132.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1135.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1138.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1141.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1144.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1147.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1150.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1153.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1156.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1159.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1162.590573261031, + -262.2691223282344, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1204.0, + -256.0, + 37.018 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-17-44_929588156/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-17-44_929588156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94acd1aae37a895f755ab3223cf3cfbe93b3b3de --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-17-44_929588156/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 212.5604139902551, + -450.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 209.9623377789018, + -452.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 207.36426156754848, + -453.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 204.76618535619517, + -455.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 202.16810914484185, + -456.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.57003293348853, + -458.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 196.97195672213522, + -459.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 194.3738805107819, + -461.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 191.7758042994286, + -462.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 189.17772808807527, + -464.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 186.57965187672195, + -465.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 183.98157566536864, + -467.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 181.38349945401532, + -468.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 178.785423242662, + -470.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 176.1873470313087, + -471.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 173.58927081995537, + -473.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 170.99119460860206, + -474.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 168.39311839724874, + -476.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 165.79504218589543, + -477.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 163.1969659745421, + -479.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 160.5988897631888, + -480.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 158.00081355183548, + -482.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 155.40273734048216, + -483.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 152.80466112912885, + -485.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 150.20658491777553, + -486.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 147.6085087064222, + -488.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 145.0104324950689, + -489.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 142.41235628371558, + -491.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 139.81428007236227, + -492.89878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 137.21620386100895, + -494.39878736953, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 137.21620386100895, + -494.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 134.21620386100895, + -494.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 131.21620386100895, + -494.39878736953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 128.21620386100895, + -494.39878736953, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -504.0, + 30.1915 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-18-56_781098823/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-18-56_781098823/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f447672c3c3cf4aa8392517c1381cd54fc94e7c3 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-18-56_781098823/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 765.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 768.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 771.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 774.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 777.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 780.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 783.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 783.8972037870212, + -510.5744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 786.4952799983746, + -512.0744162258743, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 786.4952799983746, + -512.0744162258743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 787.9952799983746, + -514.6724924372277, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 789.4952799983746, + -517.270568648581, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 789.4952799983746, + -517.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 792.093356209728, + -518.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 794.6914324210813, + -520.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 797.2895086324347, + -521.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 799.8875848437881, + -523.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 802.4856610551415, + -524.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 805.0837372664948, + -526.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 807.6818134778482, + -527.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 810.2798896892016, + -529.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 812.877965900555, + -530.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 815.4760421119083, + -532.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 818.0741183232617, + -533.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 820.6721945346151, + -535.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 823.2702707459684, + -536.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 825.8683469573218, + -538.270568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 828.4664231686752, + -539.770568648581, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 831.0644993800286, + -541.270568648581, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 864.0, + -556.0, + 50.8086 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-2-18_1292413412/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-2-18_1292413412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91c944b1bbb67d3068c648f2e2f9c4009ea6506b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-2-18_1292413412/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -654.2619186270028, + 1461.3123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -651.6638424156495, + 1462.8123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.0657662042961, + 1464.3123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -646.4676899929427, + 1465.8123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -643.8696137815894, + 1467.3123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -641.271537570236, + 1468.8123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -638.6734613588826, + 1470.3123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -636.0753851475292, + 1471.8123172786354, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -636.0753851475292, + 1471.8123172786354, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -634.5753851475292, + 1474.4103934899888, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -633.0753851475292, + 1477.0084697013422, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -631.5753851475292, + 1479.6065459126955, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -630.0753851475292, + 1482.204622124049, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -628.5753851475292, + 1484.8026983354023, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -627.0753851475292, + 1487.4007745467557, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -625.5753851475292, + 1489.998850758109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -624.0753851475292, + 1492.5969269694624, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -622.5753851475292, + 1495.1950031808158, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -621.0753851475292, + 1497.7930793921691, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -619.5753851475292, + 1500.3911556035225, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -572.0, + 1548.0, + 39.9351 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-20-22_625040140/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-20-22_625040140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2c56e756cfd166b326186c6b8f203a9bd0d3bb5 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-20-22_625040140/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1184.1173491677278, + -220.17378284463894, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1182.6173491677278, + -222.77185905599225, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1181.1173491677278, + -225.36993526734557, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1179.6173491677278, + -227.96801147869888, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1178.1173491677278, + -230.5660876900522, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1176.6173491677278, + -233.16416390140552, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1175.1173491677278, + -235.76224011275883, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1173.6173491677278, + -238.36031632411215, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1172.1173491677278, + -240.95839253546546, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1170.6173491677278, + -243.55646874681878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1169.1173491677278, + -246.1545449581721, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1167.6173491677278, + -248.7526211695254, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1166.1173491677278, + -251.35069738087873, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1164.6173491677278, + -253.94877359223204, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1163.1173491677278, + -256.54684980358536, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1161.6173491677278, + -259.1449260149387, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1160.1173491677278, + -261.743002226292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1158.6173491677278, + -264.3410784376453, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1158.6173491677278, + -264.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1158.6173491677278, + -267.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1158.6173491677278, + -270.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1158.6173491677278, + -273.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1158.6173491677278, + -276.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1158.6173491677278, + -279.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1158.6173491677278, + -282.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1158.6173491677278, + -285.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1158.6173491677278, + -288.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1158.6173491677278, + -291.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1158.6173491677278, + -294.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1158.6173491677278, + -297.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1158.6173491677278, + -300.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1158.6173491677278, + -303.3410784376453, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1158.6173491677278, + -303.3410784376453, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1157.1173491677278, + -305.9391546489986, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1155.6173491677278, + -308.53723086035194, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1154.1173491677278, + -311.13530707170526, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1152.6173491677278, + -313.7333832830586, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1151.1173491677278, + -316.3314594944119, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1149.6173491677278, + -318.9295357057652, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1148.1173491677278, + -321.5276119171185, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1146.6173491677278, + -324.12568812847184, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1145.1173491677278, + -326.72376433982515, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1143.6173491677278, + -329.32184055117847, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -1142.1173491677278, + -331.9199167625318, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -1140.6173491677278, + -334.5179929738851, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1132.0, + -356.0, + 72.6411 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-28-51_1848520019/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-28-51_1848520019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..415f2a848a373abaca4da4237df8606e2f31d578 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-28-51_1848520019/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1159.5524308181448, + -31.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1162.1505070294982, + -30.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1164.7485832408515, + -28.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1167.346659452205, + -27.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1169.9447356635583, + -25.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1172.5428118749116, + -24.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1175.140888086265, + -22.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1177.7389642976184, + -21.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1180.3370405089718, + -19.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1182.9351167203251, + -18.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1185.5331929316785, + -16.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1188.1312691430319, + -15.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1190.7293453543853, + -13.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1193.3274215657386, + -12.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1195.925497777092, + -10.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1198.5235739884454, + -9.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1201.1216501997988, + -7.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1203.7197264111521, + -6.421297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1206.3178026225055, + -4.921297246369846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1208.9158788338589, + -3.4212972463698463, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1211.5139550452122, + -1.9212972463698466, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1214.1120312565656, + -0.4212972463698468, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1214.1120312565656, + -0.4212972463698468, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1215.6120312565656, + 2.1767789649834692, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1217.1120312565656, + 4.774855176336786, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1218.6120312565656, + 7.372931387690102, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1220.1120312565656, + 9.971007599043418, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1221.6120312565656, + 12.569083810396734, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1223.1120312565656, + 15.16716002175005, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1224.6120312565656, + 17.765236233103366, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1226.1120312565656, + 20.36331244445668, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1227.6120312565656, + 22.961388655809998, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1229.1120312565656, + 25.559464867163314, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1230.6120312565656, + 28.15754107851663, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1232.1120312565656, + 30.755617289869946, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1268.0, + 60.0, + 48.7309 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-31-29_373953666/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-31-29_373953666/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..626868e6cc354bc67998d327052bdcb50f59776b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-31-29_373953666/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -138.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -135.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -132.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -129.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -126.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -123.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -120.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -117.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -117.14786853366172, + -245.24275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -114.5497923223084, + -243.74275684181305, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -114.5497923223084, + -243.74275684181305, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -113.0497923223084, + -241.14468063045973, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.5497923223084, + -238.54660441910642, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -111.5497923223084, + -238.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -108.95171611095509, + -237.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -106.35363989960177, + -235.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -103.75556368824846, + -234.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.15748747689514, + -232.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -98.55941126554183, + -231.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -95.96133505418851, + -229.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -93.3632588428352, + -228.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -90.76518263148188, + -226.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -88.16710642012856, + -225.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -85.56903020877525, + -223.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -82.97095399742193, + -222.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -80.37287778606861, + -220.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -77.7748015747153, + -219.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -75.17672536336198, + -217.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -72.57864915200867, + -216.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -69.98057294065535, + -214.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -67.38249672930203, + -213.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -64.78442051794872, + -211.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -62.1863443065954, + -210.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -59.588268095242086, + -208.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -56.99019188388877, + -207.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -54.39211567253545, + -205.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -51.79403946118214, + -204.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -49.19596324982882, + -202.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -46.597887038475506, + -201.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -43.99981082712219, + -199.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -41.40173461576887, + -198.04660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -38.80365840441556, + -196.54660441910642, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -36.20558219306224, + -195.04660441910642, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -20.0, + -188.0, + 108.676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-45-43_1600206898/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-45-43_1600206898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a5d63c1d0f03ee68bb0f780a23f181e9eebfa3b --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-45-43_1600206898/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1550.8310973843568, + -217.13964308325836, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1549.3310973843568, + -214.54156687190505, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1547.8310973843568, + -211.94349066055173, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1546.3310973843568, + -209.34541444919842, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1544.8310973843568, + -206.7473382378451, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1543.3310973843568, + -204.14926202649178, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1541.8310973843568, + -201.55118581513847, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1541.8310973843568, + -201.55118581513847, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1539.2330211730034, + -200.05118581513847, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1536.63494496165, + -198.55118581513847, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1484.0, + -132.0, + 49.5736 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-53-2_461152493/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-53-2_461152493/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0de28cae602c3e6583666ac71d1ac6c4de065ba --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_0-53-2_461152493/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1193.213254090877, + 150.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1195.8113303022303, + 151.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1198.4094065135837, + 153.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1201.007482724937, + 154.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1203.6055589362904, + 156.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1206.2036351476438, + 157.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1208.8017113589972, + 159.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1211.3997875703506, + 160.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1213.997863781704, + 162.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1216.5959399930573, + 163.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1219.1940162044107, + 165.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1221.792092415764, + 166.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1224.3901686271174, + 168.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1226.9882448384708, + 169.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1229.5863210498242, + 171.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1232.1843972611775, + 172.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1234.782473472531, + 174.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1237.3805496838843, + 175.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1239.9786258952377, + 177.3656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1242.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1242.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1245.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1248.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1251.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1254.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1257.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1260.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1263.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1266.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1269.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1272.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1275.576702106591, + 178.8656574024996, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1324.0, + 196.0, + 28.127 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-1-11_695258232/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-1-11_695258232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21024057890b75bba021fb71f11992f1b1a4affd --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-1-11_695258232/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1423.0605979040595, + -330.9156664657419, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1421.5605979040595, + -333.5137426770952, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1420.0605979040595, + -336.1118188884485, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1418.5605979040595, + -338.7098950998018, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1417.0605979040595, + -341.30797131115514, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1415.5605979040595, + -343.90604752250846, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1414.0605979040595, + -346.5041237338618, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1412.5605979040595, + -349.1021999452151, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1411.0605979040595, + -351.7002761565684, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1409.5605979040595, + -354.2983523679217, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1408.0605979040595, + -356.89642857927504, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1406.5605979040595, + -359.49450479062835, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1405.0605979040595, + -362.09258100198167, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1403.5605979040595, + -364.690657213335, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1402.0605979040595, + -367.2887334246883, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1400.5605979040595, + -369.8868096360416, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1399.0605979040595, + -372.48488584739493, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1397.5605979040595, + -375.08296205874825, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1396.0605979040595, + -377.68103827010157, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1394.5605979040595, + -380.2791144814549, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1393.0605979040595, + -382.8771906928082, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1391.5605979040595, + -385.4752669041615, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1390.0605979040595, + -388.07334311551483, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1388.5605979040595, + -390.67141932686815, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1388.5605979040595, + -390.67141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1385.962521692706, + -392.17141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1383.3644454813527, + -393.67141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1380.7663692699994, + -395.17141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1378.168293058646, + -396.67141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1375.5702168472926, + -398.17141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1372.9721406359392, + -399.67141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1370.3740644245859, + -401.17141932686815, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1367.7759882132325, + -402.67141932686815, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1352.0, + -420.0, + 51.6704 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-11-56_2017881519/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-11-56_2017881519/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f5adba9ce1fb10b2ad82e645598654c82fd4bd9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-11-56_2017881519/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1290.6794156138262, + -1471.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1288.0813394024728, + -1472.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1285.4832631911195, + -1474.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1282.885186979766, + -1475.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1280.2871107684127, + -1477.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1277.6890345570594, + -1478.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1275.090958345706, + -1480.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1272.4928821343526, + -1481.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1269.8948059229992, + -1483.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1267.2967297116459, + -1484.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1264.6986535002925, + -1486.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1262.1005772889391, + -1487.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1259.5025010775857, + -1489.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1256.9044248662324, + -1490.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1254.306348654879, + -1492.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1251.7082724435256, + -1493.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1249.1101962321723, + -1495.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1246.5121200208189, + -1496.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1243.9140438094655, + -1498.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1241.3159675981121, + -1499.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1238.7178913867588, + -1501.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1236.1198151754054, + -1502.5485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1233.521738964052, + -1504.0485722277201, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1233.521738964052, + -1504.0485722277201, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1232.021738964052, + -1506.6466484390735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1230.521738964052, + -1509.2447246504269, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1229.021738964052, + -1511.8428008617802, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1227.521738964052, + -1514.4408770731336, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1226.021738964052, + -1517.038953284487, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1224.521738964052, + -1519.6370294958404, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1223.021738964052, + -1522.2351057071937, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1221.521738964052, + -1524.833181918547, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1220.021738964052, + -1527.4312581299005, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1218.521738964052, + -1530.0293343412538, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1217.021738964052, + -1532.6274105526072, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1215.521738964052, + -1535.2254867639606, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1214.021738964052, + -1537.823562975314, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1212.521738964052, + -1540.4216391866673, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1211.021738964052, + -1543.0197153980207, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1209.521738964052, + -1545.617791609374, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1208.021738964052, + -1548.2158678207275, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1180.0, + -1572.0, + 84.1825 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-14-27_331016259/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-14-27_331016259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d28e4d4ab43a8eff669f9b72213d2a085967629 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-14-27_331016259/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 187.88146489114098, + -491.62219133375277, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 189.38146489114098, + -494.2202675451061, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.88146489114098, + -496.8183437564594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 192.38146489114098, + -499.4164199678127, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 193.88146489114098, + -502.01449617916603, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 195.38146489114098, + -504.61257239051935, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 196.88146489114098, + -507.21064860187266, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 198.38146489114098, + -509.808724813226, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 199.88146489114098, + -512.4068010245793, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 201.38146489114098, + -515.0048772359326, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 202.88146489114098, + -517.6029534472859, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 204.38146489114098, + -520.2010296586393, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 205.88146489114098, + -522.7991058699927, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 207.38146489114098, + -525.397182081346, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 208.88146489114098, + -527.9952582926994, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 210.38146489114098, + -530.5933345040528, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 211.88146489114098, + -533.1914107154062, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 213.38146489114098, + -535.7894869267595, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 213.38146489114098, + -535.7894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 215.9795411024943, + -537.2894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 218.5776173138476, + -538.7894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 221.17569352520093, + -540.2894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 223.77376973655424, + -541.7894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 226.37184594790756, + -543.2894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 228.96992215926088, + -544.7894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 231.5679983706142, + -546.2894869267595, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 234.1660745819675, + -547.7894869267595, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 272.0, + -588.0, + 64.6979 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-29-50_177332700/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-29-50_177332700/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7be1c5802be6c7a8ff041d2a3143472af2c9be10 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-29-50_177332700/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1482.2596940428537, + 672.8515257798333, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1482.2596940428537, + 669.8515257798333, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1482.2596940428537, + 666.8515257798333, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1482.2596940428537, + 663.8515257798333, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1482.2596940428537, + 660.8515257798333, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1460.0, + 528.0, + 42.3124 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-29-57_305564045/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-29-57_305564045/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..223680a712c7b0be185fbfff076a80b0b413a867 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-29-57_305564045/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 300.82654413974944, + 270.128941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 298.2284679283961, + 268.628941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.6303917170428, + 267.128941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.0323155056895, + 265.628941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 290.4342392943362, + 264.128941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 287.83616308298286, + 262.628941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 285.23808687162955, + 261.128941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 282.64001066027623, + 259.628941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 280.0419344489229, + 258.128941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 277.4438582375696, + 256.628941011597, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 274.8457820262163, + 255.12894101159702, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 272.24770581486297, + 253.62894101159702, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.64962960350965, + 252.12894101159702, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 267.05155339215634, + 250.62894101159702, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 264.453477180803, + 249.12894101159702, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 264.453477180803, + 249.12894101159702, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.953477180803, + 246.5308648002437, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 261.453477180803, + 243.9327885888904, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 259.953477180803, + 241.33471237753707, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.453477180803, + 238.73663616618376, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 256.953477180803, + 236.13855995483044, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 255.45347718080302, + 233.54048374347713, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 253.95347718080302, + 230.9424075321238, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 252.45347718080302, + 228.3443313207705, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 250.95347718080302, + 225.74625510941718, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 250.95347718080302, + 225.74625510941718, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 248.3554009694497, + 224.24625510941718, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 216.0, + 196.0, + 446.603 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-3-8_1683932587/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-3-8_1683932587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5709b330110924b25a6d785dbc7028722ae102dc --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-3-8_1683932587/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 683.0199176186874, + -746.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 683.0199176186874, + -749.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 683.0199176186874, + -752.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 683.0199176186874, + -755.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 683.0199176186874, + -758.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 683.0199176186874, + -761.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 683.0199176186874, + -764.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 683.0199176186874, + -767.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 683.0199176186874, + -770.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 683.0199176186874, + -773.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 683.0199176186874, + -776.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 683.0199176186874, + -779.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 683.0199176186874, + -782.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 683.0199176186874, + -785.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 683.0199176186874, + -788.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 683.0199176186874, + -791.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 683.0199176186874, + -794.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 683.0199176186874, + -797.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 683.0199176186874, + -800.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 683.0199176186874, + -803.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 683.0199176186874, + -806.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 683.0199176186874, + -809.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 683.0199176186874, + -812.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 683.0199176186874, + -815.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 683.0199176186874, + -818.5058167366498, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 683.0199176186874, + -818.5058167366498, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 684.5199176186874, + -821.103892948003, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 686.0199176186874, + -823.7019691593564, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 687.5199176186874, + -826.3000453707098, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 689.0199176186874, + -828.8981215820631, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 690.5199176186874, + -831.4961977934165, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 692.0199176186874, + -834.0942740047699, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 693.5199176186874, + -836.6923502161233, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 695.0199176186874, + -839.2904264274766, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 696.5199176186874, + -841.88850263883, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 698.0199176186874, + -844.4865788501834, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 699.5199176186874, + -847.0846550615368, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 700.0, + -868.0, + 83.6717 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-35-28_750679664/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-35-28_750679664/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e765d75e9e9f86be96a8c36f6f52051e57fd824c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-35-28_750679664/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1049.6773108655007, + -871.3148992611209, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1051.1773108655007, + -873.9129754724743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1052.6773108655007, + -876.5110516838276, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1054.1773108655007, + -879.109127895181, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1055.6773108655007, + -881.7072041065344, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1057.1773108655007, + -884.3052803178878, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1057.1773108655007, + -884.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1057.1773108655007, + -887.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1057.1773108655007, + -890.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1057.1773108655007, + -893.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1057.1773108655007, + -896.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1057.1773108655007, + -899.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1057.1773108655007, + -902.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1057.1773108655007, + -905.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1057.1773108655007, + -908.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1057.1773108655007, + -911.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1057.1773108655007, + -914.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1057.1773108655007, + -917.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1057.1773108655007, + -920.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1057.1773108655007, + -923.3052803178878, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1057.1773108655007, + -923.3052803178878, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1058.6773108655007, + -925.9033565292411, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1060.1773108655007, + -928.5014327405945, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1061.6773108655007, + -931.0995089519479, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1063.1773108655007, + -933.6975851633013, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1064.6773108655007, + -936.2956613746546, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1066.1773108655007, + -938.893737586008, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1067.6773108655007, + -941.4918137973614, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1069.1773108655007, + -944.0898900087147, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1070.6773108655007, + -946.6879662200681, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1072.1773108655007, + -949.2860424314215, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1073.6773108655007, + -951.8841186427749, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1075.1773108655007, + -954.4821948541282, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1076.6773108655007, + -957.0802710654816, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1078.1773108655007, + -959.678347276835, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1078.1773108655007, + -959.678347276835, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1080.775387076854, + -961.178347276835, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1083.3734632882074, + -962.678347276835, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1085.9715394995608, + -964.178347276835, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1100.0, + -996.0, + 38.2171 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-39-58_1987106312/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-39-58_1987106312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c42fcfde4d83e4cfa86fdffe7f487ddc89ca409 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-39-58_1987106312/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -377.5674407480843, + 1774.2666868966917, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -374.5674407480843, + 1774.2666868966917, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -371.5674407480843, + 1774.2666868966917, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -371.5674407480843, + 1774.2666868966917, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -371.5674407480843, + 1774.2666868966917, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -370.0674407480843, + 1776.864763108045, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -368.5674407480843, + 1779.4628393193984, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -367.0674407480843, + 1782.0609155307518, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -365.5674407480843, + 1784.6589917421052, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -364.0674407480843, + 1787.2570679534585, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -362.5674407480843, + 1789.855144164812, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -361.0674407480843, + 1792.4532203761653, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -361.0674407480843, + 1792.4532203761653, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -358.469364536731, + 1793.9532203761653, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -355.8712883253777, + 1795.4532203761653, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -353.2732121140244, + 1796.9532203761653, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -276.0, + 1876.0, + 27.9468 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-45-30_1538026652/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-45-30_1538026652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a689d181fd279d1be872c1740fbddb372da8dd9 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-45-30_1538026652/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 745.3683670838922, + 368.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 745.3683670838922, + 371.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 745.3683670838922, + 374.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 745.3683670838922, + 377.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 745.3683670838922, + 380.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 745.3683670838922, + 383.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 745.3683670838922, + 386.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 745.3683670838922, + 389.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 745.3683670838922, + 392.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 745.3683670838922, + 395.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 745.3683670838922, + 398.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 745.3683670838922, + 401.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 745.3683670838922, + 404.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 745.3683670838922, + 407.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 745.3683670838922, + 410.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 745.3683670838922, + 413.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 745.3683670838922, + 416.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 745.3683670838922, + 419.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 745.3683670838922, + 422.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 745.3683670838922, + 425.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 745.3683670838922, + 428.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 745.3683670838922, + 431.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 745.3683670838922, + 434.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 745.3683670838922, + 437.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 745.3683670838922, + 440.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 745.3683670838922, + 443.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 745.3683670838922, + 446.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 745.3683670838922, + 449.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 745.3683670838922, + 452.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 745.3683670838922, + 455.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 745.3683670838922, + 458.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 745.3683670838922, + 461.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 745.3683670838922, + 464.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 745.3683670838922, + 467.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 745.3683670838922, + 470.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 745.3683670838922, + 473.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 745.3683670838922, + 476.5697288164761, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 745.3683670838922, + 476.5697288164761, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 745.3683670838922, + 476.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 742.7702908725389, + 478.0697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 740.1722146611855, + 479.5697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 737.5741384498322, + 481.0697288164761, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 737.5741384498322, + 481.0697288164761, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 736.0741384498322, + 483.6678050278294, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 734.5741384498322, + 486.2658812391827, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 733.0741384498322, + 488.863957450536, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 728.0, + 512.0, + 102.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-51-46_79065186/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-51-46_79065186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b9ec922867a64c1b49b164955d7c1fc8d5595a8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-51-46_79065186/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1020.1748201727863, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1023.1748201727863, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1026.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1029.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1032.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1035.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1038.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1041.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1044.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1047.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1050.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1053.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1056.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1059.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1062.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1065.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1068.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1071.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1074.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1077.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1080.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1083.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1086.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1089.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1092.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1095.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1098.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1101.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1104.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1107.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1110.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1113.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1116.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1119.1748201727864, + 1080.4474118654077, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + 1080.0, + 90.745 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-53-13_1588695568/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-53-13_1588695568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a496ae0085940d424204a10ce5ca532f711500c --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-53-13_1588695568/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.02881807766292, + 769.8820032533494, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.52881807766292, + 767.2839270419961, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.02881807766292, + 764.6858508306427, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.52881807766292, + 762.0877746192893, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -99.02881807766292, + 759.489698407936, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.52881807766292, + 756.8916221965826, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -102.02881807766292, + 754.2935459852292, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -103.52881807766292, + 751.6954697738759, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.02881807766292, + 749.0973935625225, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -106.52881807766292, + 746.4993173511691, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -108.02881807766292, + 743.9012411398157, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.52881807766292, + 741.3031649284624, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -111.02881807766292, + 738.705088717109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -112.52881807766292, + 736.1070125057556, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -114.02881807766292, + 733.5089362944022, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -114.02881807766292, + 733.5089362944022, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.02881807766292, + 730.5089362944022, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -114.02881807766292, + 727.5089362944022, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -114.02881807766292, + 724.5089362944022, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 664.0, + 31.8754 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-53-47_535286141/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-53-47_535286141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ed2985935e11935c4571ee5a75033f9ab4933622 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-53-47_535286141/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 58.027623065470216, + -258.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 58.027623065470216, + -261.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 58.027623065470216, + -264.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 58.027623065470216, + -267.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 58.027623065470216, + -270.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 58.027623065470216, + -273.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 58.027623065470216, + -276.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 58.027623065470216, + -279.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.027623065470216, + -282.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 58.027623065470216, + -285.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 58.027623065470216, + -288.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 58.027623065470216, + -291.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 58.027623065470216, + -294.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 58.027623065470216, + -297.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 58.027623065470216, + -300.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 58.027623065470216, + -303.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.027623065470216, + -306.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 58.027623065470216, + -309.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 58.027623065470216, + -312.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 58.027623065470216, + -315.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 58.027623065470216, + -318.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 58.027623065470216, + -321.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 58.027623065470216, + -324.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 58.027623065470216, + -327.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 58.027623065470216, + -330.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 58.027623065470216, + -333.4907651215997, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 58.027623065470216, + -333.4907651215997, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 56.527623065470216, + -336.088841332953, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.027623065470216, + -338.6869175443063, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 53.527623065470216, + -341.2849937556596, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 52.027623065470216, + -343.88306996701294, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 50.527623065470216, + -346.48114617836626, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 49.027623065470216, + -349.0792223897196, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 47.527623065470216, + -351.6772986010729, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 46.027623065470216, + -354.2753748124262, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 44.527623065470216, + -356.8734510237795, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 43.027623065470216, + -359.47152723513284, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 41.527623065470216, + -362.06960344648616, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 40.027623065470216, + -364.66767965783947, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 38.527623065470216, + -367.2657558691928, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 37.027623065470216, + -369.8638320805461, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 35.527623065470216, + -372.4619082918994, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 34.027623065470216, + -375.05998450325274, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 28.0, + -404.0, + 31.0763 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-55-48_1642663198/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-55-48_1642663198/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..647cac73105c2274ab65eca4514310d0ff6d5d1d --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-55-48_1642663198/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1200.451810695836, + -391.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1200.451810695836, + -388.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1200.451810695836, + -385.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1200.451810695836, + -382.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1200.451810695836, + -379.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1200.451810695836, + -376.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1200.451810695836, + -373.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1200.451810695836, + -370.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1200.451810695836, + -367.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1200.451810695836, + -364.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1200.451810695836, + -361.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1200.451810695836, + -358.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1200.451810695836, + -355.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1200.451810695836, + -352.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1200.451810695836, + -349.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1200.451810695836, + -346.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1200.451810695836, + -343.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1200.451810695836, + -340.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1200.451810695836, + -337.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1200.451810695836, + -334.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1200.451810695836, + -331.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1200.451810695836, + -328.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1200.451810695836, + -325.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1200.451810695836, + -322.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1200.451810695836, + -319.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1200.451810695836, + -316.2384622965109, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1200.451810695836, + -316.2384622965109, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1200.451810695836, + -316.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1203.0498869071894, + -314.7384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1205.6479631185427, + -313.2384622965109, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1205.6479631185427, + -313.2384622965109, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1205.6479631185427, + -313.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1205.6479631185427, + -310.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1205.6479631185427, + -307.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1205.6479631185427, + -304.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1205.6479631185427, + -301.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1205.6479631185427, + -298.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1205.6479631185427, + -295.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1205.6479631185427, + -292.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -1205.6479631185427, + -289.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -1205.6479631185427, + -286.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -1205.6479631185427, + -283.2384622965109, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -1205.6479631185427, + -280.2384622965109, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1204.0, + -256.0, + 37.018 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-59-50_2124898138/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-59-50_2124898138/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d3bc0a52771fc39be81de107da75de30fbd0926 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-59-50_2124898138/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1650.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1647.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1644.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1641.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1638.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1635.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1632.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1629.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1626.5191394977114, + -1209.9282202746974, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1508.0, + -1220.0, + 54.4348 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-7-22_359147515/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-7-22_359147515/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38cb191c0bb42a01e8d75650ba3b76c4a0af21e8 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_1-7-22_359147515/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 810.4439296735624, + -1706.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 810.4439296735624, + -1709.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 810.4439296735624, + -1712.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 810.4439296735624, + -1715.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 810.4439296735624, + -1718.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 810.4439296735624, + -1721.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 810.4439296735624, + -1724.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 810.4439296735624, + -1727.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 810.4439296735624, + -1730.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 810.4439296735624, + -1733.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 810.4439296735624, + -1736.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 810.4439296735624, + -1739.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 810.4439296735624, + -1742.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 810.4439296735624, + -1745.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 810.4439296735624, + -1748.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 810.4439296735624, + -1751.3102257085338, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 810.4439296735624, + -1751.3102257085338, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 811.9439296735624, + -1753.9083019198872, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 813.4439296735624, + -1756.5063781312406, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 814.9439296735624, + -1759.104454342594, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 816.4439296735624, + -1761.7025305539473, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 817.9439296735624, + -1764.3006067653007, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 819.4439296735624, + -1766.898682976654, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 820.9439296735624, + -1769.4967591880074, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 822.4439296735624, + -1772.0948353993608, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 823.9439296735624, + -1774.6929116107142, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 825.4439296735624, + -1777.2909878220676, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 826.9439296735624, + -1779.889064033421, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 828.4439296735624, + -1782.4871402447743, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 829.9439296735624, + -1785.0852164561277, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + -1808.0, + 165.105 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_2-0-51_1245036421/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_2-0-51_1245036421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a0fdb9fa6c768d99d88a7fc039d6b7276679b718 --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_2-0-51_1245036421/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1563.871596290361, + 374.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1563.871596290361, + 377.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1563.871596290361, + 380.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1563.871596290361, + 383.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1563.871596290361, + 386.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1563.871596290361, + 389.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1563.871596290361, + 392.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1563.871596290361, + 395.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1563.871596290361, + 398.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1563.871596290361, + 401.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1563.871596290361, + 404.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1563.871596290361, + 407.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1563.871596290361, + 410.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1563.871596290361, + 413.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1563.871596290361, + 416.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1563.871596290361, + 419.3526480266735, + 40.41676786804723 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1563.871596290361, + 419.3526480266735, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1562.371596290361, + 421.9507242380268, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1560.871596290361, + 424.5488004493801, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1559.371596290361, + 427.1468766607334, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1557.871596290361, + 429.74495287208674, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1556.371596290361, + 432.34302908344006, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1554.871596290361, + 434.9411052947934, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1553.371596290361, + 437.5391815061467, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1540.0, + 496.0, + 51.6413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_2-4-42_73673339/pose.jsonl b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_2-4-42_73673339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78ec0efd9eca4e89388a6d2cf078437b0ecfc8be --- /dev/null +++ b/Image/env_airsim_sh/astar_data/medium_average/2025-1-9_2-4-42_73673339/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1417.0654059281533, + 608.9606694489105, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1418.5654059281533, + 606.3625932375571, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1420.0654059281533, + 603.7645170262037, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1421.5654059281533, + 601.1664408148504, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1423.0654059281533, + 598.568364603497, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1424.5654059281533, + 595.9702883921436, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1426.0654059281533, + 593.3722121807903, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1427.5654059281533, + 590.7741359694369, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1429.0654059281533, + 588.1760597580835, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1430.5654059281533, + 585.5779835467301, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1432.0654059281533, + 582.9799073353768, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1433.5654059281533, + 580.3818311240234, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1435.0654059281533, + 577.78375491267, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1436.5654059281533, + 575.1856787013166, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1438.0654059281533, + 572.5876024899633, + 40.41676786804723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1438.0654059281533, + 572.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1438.0654059281533, + 569.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1438.0654059281533, + 566.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1438.0654059281533, + 563.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1438.0654059281533, + 560.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1438.0654059281533, + 557.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1438.0654059281533, + 554.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1438.0654059281533, + 551.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1438.0654059281533, + 548.5876024899633, + 40.41676786804723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1438.0654059281533, + 545.5876024899633, + 40.41676786804723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1452.0, + 496.0, + 61.0559 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}