diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-56-41_621361/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-56-41_621361/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c49a9f0c2c25402e765e4c73c6425c675df8f7d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-18_23-56-41_621361/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -808.8635837219415, + -1986.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -806.2655075105881, + -1985.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -803.6674312992347, + -1983.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -801.0693550878814, + -1982.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -798.471278876528, + -1980.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -795.8732026651746, + -1979.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -793.2751264538213, + -1977.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -790.6770502424679, + -1976.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -788.0789740311145, + -1974.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -785.4808978197611, + -1973.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -782.8828216084078, + -1971.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -780.2847453970544, + -1970.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -777.686669185701, + -1968.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -775.0885929743476, + -1967.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -772.4905167629943, + -1965.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.8924405516409, + -1964.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -767.2943643402875, + -1962.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -764.6962881289342, + -1961.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -762.0982119175808, + -1959.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -759.5001357062274, + -1958.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -756.902059494874, + -1956.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -754.3039832835207, + -1955.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -751.7059070721673, + -1953.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -749.1078308608139, + -1952.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -746.5097546494605, + -1950.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -743.9116784381072, + -1949.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -741.3136022267538, + -1947.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -738.7155260154004, + -1946.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -736.117449804047, + -1944.5627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -733.5193735926937, + -1943.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -730.9212973813403, + -1941.5627237930269, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -730.9212973813403, + -1941.5627237930269, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -730.9212973813403, + -1941.5627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -728.3232211699869, + -1940.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -725.7251449586336, + -1938.5627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -723.1270687472802, + -1937.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -720.5289925359268, + -1935.5627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -717.9309163245734, + -1934.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -715.3328401132201, + -1932.5627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -712.7347639018667, + -1931.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -710.1366876905133, + -1929.5627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -707.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -707.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -704.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -701.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -698.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -692.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -689.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -686.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -683.53861147916, + -1928.0627237930269, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -683.53861147916, + -1928.0627237930269, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -683.53861147916, + -1928.0627237930269, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -683.53861147916, + -1928.0627237930269, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -680.9405352678066, + -1926.5627237930269, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-02-14_929388/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-02-14_929388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf5cc89cf82d28ba76885c341f92bf4ca84700c1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-02-14_929388/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -801.17294509752, + -2001.1775747926229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -798.17294509752, + -2001.1775747926229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -795.17294509752, + -2001.1775747926229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -792.17294509752, + -2001.1775747926229, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -792.17294509752, + -2001.1775747926229, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -792.17294509752, + -2001.1775747926229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -790.67294509752, + -1998.5794985812695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -789.17294509752, + -1995.9814223699161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -787.67294509752, + -1993.3833461585627, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -787.67294509752, + -1993.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -785.0748688861668, + -1991.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -782.4767926748134, + -1990.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -779.87871646346, + -1988.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -777.2806402521067, + -1987.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -774.6825640407533, + -1985.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -772.0844878293999, + -1984.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -769.4864116180465, + -1982.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -766.8883354066932, + -1981.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -764.2902591953398, + -1979.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -761.6921829839864, + -1978.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -759.094106772633, + -1976.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -756.4960305612797, + -1975.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -753.8979543499263, + -1973.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -751.2998781385729, + -1972.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -748.7018019272195, + -1970.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -746.1037257158662, + -1969.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -743.5056495045128, + -1967.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -740.9075732931594, + -1966.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -738.3094970818061, + -1964.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -735.7114208704527, + -1963.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.1133446590993, + -1961.8833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -730.5152684477459, + -1960.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.9171922363926, + -1958.8833461585627, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -727.9171922363926, + -1958.8833461585627, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -727.9171922363926, + -1958.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -725.3191160250392, + -1957.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -722.7210398136858, + -1955.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -720.1229636023324, + -1954.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -717.5248873909791, + -1952.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -714.9268111796257, + -1951.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -712.3287349682723, + -1949.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -709.730658756919, + -1948.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -707.1325825455656, + -1946.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -704.5345063342122, + -1945.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -701.9364301228588, + -1943.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -699.3383539115055, + -1942.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -696.7402777001521, + -1940.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -694.1422014887987, + -1939.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -691.5441252774453, + -1937.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -688.946049066092, + -1936.3833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -686.3479728547386, + -1934.8833461585627, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -683.7498966433852, + -1933.3833461585627, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -683.7498966433852, + -1933.3833461585627, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -683.7498966433852, + -1933.3833461585627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -681.1518204320319, + -1931.8833461585627, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-06-25_519714/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-06-25_519714/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0abc63b07520d6d59811573e72bbb940725cc555 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-06-25_519714/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -801.5279445533935, + -2006.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -798.9298683420402, + -2005.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -796.3317921306868, + -2003.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -793.7337159193335, + -2002.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -791.1356397079801, + -2000.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -788.5375634966267, + -1999.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -785.9394872852733, + -1997.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -783.34141107392, + -1996.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -780.7433348625666, + -1994.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -778.1452586512132, + -1993.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.5471824398599, + -1991.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.9491062285065, + -1990.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -770.3510300171531, + -1988.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -767.7529538057997, + -1987.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -765.1548775944464, + -1985.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -762.556801383093, + -1984.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -759.9587251717396, + -1982.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -757.3606489603862, + -1981.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -754.7625727490329, + -1979.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -752.1644965376795, + -1978.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -749.5664203263261, + -1976.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -746.9683441149728, + -1975.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -744.3702679036194, + -1973.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -741.772191692266, + -1972.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.1741154809126, + -1970.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -736.5760392695593, + -1969.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -733.9779630582059, + -1967.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -731.3798868468525, + -1966.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -728.7818106354991, + -1964.5267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -726.1837344241458, + -1963.0267517915133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -723.5856582127924, + -1961.5267517915133, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -723.5856582127924, + -1961.5267517915133, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -723.5856582127924, + -1961.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -720.987582001439, + -1960.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -718.3895057900857, + -1958.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -715.7914295787323, + -1957.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -713.1933533673789, + -1955.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -710.5952771560255, + -1954.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -707.9972009446722, + -1952.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -705.3991247333188, + -1951.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -702.8010485219654, + -1949.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -700.202972310612, + -1948.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -697.6048960992587, + -1946.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -695.0068198879053, + -1945.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -692.4087436765519, + -1943.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -689.8106674651985, + -1942.0267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -687.2125912538452, + -1940.5267517915133, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -687.2125912538452, + -1940.5267517915133, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -685.7125912538452, + -1937.92867558016, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -684.2125912538452, + -1935.3305993688066, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -682.7125912538452, + -1932.7325231574532, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -682.7125912538452, + -1932.7325231574532, + -204.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -682.7125912538452, + -1932.7325231574532, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -680.1145150424918, + -1931.2325231574532, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-08-04_777755/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-08-04_777755/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15fbbb610e80c1c6dc9df64513e15483ab9eaf31 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-08-04_777755/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -823.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -820.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -817.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -814.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -811.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -808.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -805.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -802.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -799.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -796.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -793.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -787.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -784.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -781.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -775.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -772.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -769.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -766.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -763.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -760.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -760.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -760.0268153247597, + -1980.9054378474048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -758.5268153247597, + -1978.3073616360514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -757.0268153247597, + -1975.709285424698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -755.5268153247597, + -1973.1112092133446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -754.0268153247597, + -1970.5131330019913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -752.5268153247597, + -1967.915056790638, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -752.5268153247597, + -1967.915056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -749.9287391134064, + -1966.415056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -747.3306629020531, + -1964.915056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -744.7325866906997, + -1963.415056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -742.1345104793463, + -1961.915056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -739.536434267993, + -1960.415056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -736.9383580566396, + -1958.915056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -734.3402818452862, + -1957.415056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -731.7422056339328, + -1955.915056790638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -729.1441294225795, + -1954.415056790638, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -729.1441294225795, + -1954.415056790638, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -729.1441294225795, + -1954.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -726.5460532112261, + -1952.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -723.9479769998727, + -1951.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -721.3499007885193, + -1949.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -718.751824577166, + -1948.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -716.1537483658126, + -1946.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -713.5556721544592, + -1945.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -710.9575959431058, + -1943.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -708.3595197317525, + -1942.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -705.7614435203991, + -1940.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -703.1633673090457, + -1939.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -700.5652910976924, + -1937.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -697.967214886339, + -1936.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -695.3691386749856, + -1934.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -692.7710624636322, + -1933.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -690.1729862522789, + -1931.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -687.5749100409255, + -1930.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -684.9768338295721, + -1928.915056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -682.3787576182187, + -1927.415056790638, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -679.7806814068654, + -1925.915056790638, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -679.7806814068654, + -1925.915056790638, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-16-00_551527/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-16-00_551527/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9fe6b8d579b84127253cde43beb8572ce48e7a01 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-16-00_551527/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -159.01728190735307, + -1588.3848601579396, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -160.51728190735307, + -1585.7867839465862, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -162.01728190735307, + -1583.1887077352328, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.51728190735307, + -1580.5906315238794, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -165.01728190735307, + -1577.992555312526, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -166.51728190735307, + -1575.3944791011727, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -168.01728190735307, + -1572.7964028898193, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -169.51728190735307, + -1570.198326678466, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -171.01728190735307, + -1567.6002504671126, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.51728190735307, + -1565.0021742557592, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -174.01728190735307, + -1562.4040980444058, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -175.51728190735307, + -1559.8060218330525, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -177.01728190735307, + -1557.207945621699, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -178.51728190735307, + -1554.6098694103457, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -180.01728190735307, + -1552.0117931989923, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -181.51728190735307, + -1549.413716987639, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -183.01728190735307, + -1546.8156407762856, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -184.51728190735307, + -1544.2175645649322, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -186.01728190735307, + -1541.6194883535788, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -187.51728190735307, + -1539.0214121422255, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -189.01728190735307, + -1536.423335930872, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -190.51728190735307, + -1533.8252597195187, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -192.01728190735307, + -1531.2271835081654, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -193.51728190735307, + -1528.629107296812, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -195.01728190735307, + -1526.0310310854586, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -196.51728190735307, + -1523.4329548741052, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -198.01728190735307, + -1520.8348786627519, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -199.51728190735307, + -1518.2368024513985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -201.01728190735307, + -1515.6387262400451, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -202.51728190735307, + -1513.0406500286917, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -204.01728190735307, + -1510.4425738173384, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -205.51728190735307, + -1507.844497605985, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.51728190735307, + -1507.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -208.11535811870638, + -1506.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -210.7134343300597, + -1504.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -213.311510541413, + -1503.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -215.90958675276633, + -1501.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -218.50766296411965, + -1500.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -221.10573917547296, + -1498.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -223.70381538682628, + -1497.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -226.3018915981796, + -1495.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -228.8999678095329, + -1494.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -231.49804402088623, + -1492.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -234.09612023223954, + -1491.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -236.69419644359286, + -1489.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -239.29227265494617, + -1488.344497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -241.8903488662995, + -1486.844497605985, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -241.8903488662995, + -1486.844497605985, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -243.3903488662995, + -1484.2464213946316, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -244.8903488662995, + -1481.6483451832783, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -244.8903488662995, + -1481.6483451832783, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -246.3903488662995, + -1479.0502689719249, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-19-20_440370/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-19-20_440370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff7b19ff2ea710cd4ce3720fb18888db1eb0b82f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-19-20_440370/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -800.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -797.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -794.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -791.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -788.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -785.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -782.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -779.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -776.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -773.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -773.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -773.3163193158466, + -1988.514698995435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -771.8163193158466, + -1985.9166227840817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -770.3163193158466, + -1983.3185465727283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.8163193158466, + -1980.720470361375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.3163193158466, + -1978.1223941500216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.8163193158466, + -1975.5243179386682, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.8163193158466, + -1975.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -763.2182431044932, + -1974.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -760.6201668931399, + -1972.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -758.0220906817865, + -1971.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -755.4240144704331, + -1969.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -752.8259382590797, + -1968.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -750.2278620477264, + -1966.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -747.629785836373, + -1965.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -745.0317096250196, + -1963.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -742.4336334136663, + -1962.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -739.8355572023129, + -1960.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -737.2374809909595, + -1959.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.6394047796061, + -1957.5243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -732.0413285682528, + -1956.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.4432523568994, + -1954.5243179386682, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -729.4432523568994, + -1954.5243179386682, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.4432523568994, + -1954.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -726.845176145546, + -1953.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -724.2470999341926, + -1951.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -721.6490237228393, + -1950.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -719.0509475114859, + -1948.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -716.4528713001325, + -1947.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -713.8547950887792, + -1945.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -711.2567188774258, + -1944.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -708.6586426660724, + -1942.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -706.060566454719, + -1941.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -703.4624902433657, + -1939.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -700.8644140320123, + -1938.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -698.2663378206589, + -1936.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.6682616093055, + -1935.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -693.0701853979522, + -1933.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -690.4721091865988, + -1932.0243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -687.8740329752454, + -1930.5243179386682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -685.275956763892, + -1929.0243179386682, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -685.275956763892, + -1929.0243179386682, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -685.275956763892, + -1929.0243179386682, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -685.275956763892, + -1929.0243179386682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -682.275956763892, + -1929.0243179386682, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-24-59_452946/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-24-59_452946/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afab3b9d35e16ecc8810f73f73ee169284b837d8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-24-59_452946/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -700.4591318924736, + -2048.17823112688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -700.4591318924736, + -2045.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -700.4591318924736, + -2042.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -700.4591318924736, + -2039.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -700.4591318924736, + -2036.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -700.4591318924736, + -2033.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -700.4591318924736, + -2030.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -700.4591318924736, + -2027.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -700.4591318924736, + -2024.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -700.4591318924736, + -2021.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.4591318924736, + -2018.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -700.4591318924736, + -2015.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -700.4591318924736, + -2012.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -700.4591318924736, + -2009.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -700.4591318924736, + -2006.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -700.4591318924736, + -2003.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -700.4591318924736, + -2000.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -700.4591318924736, + -1997.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -700.4591318924736, + -1994.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -700.4591318924736, + -1991.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -700.4591318924736, + -1988.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.4591318924736, + -1985.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -700.4591318924736, + -1982.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -700.4591318924736, + -1979.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -700.4591318924736, + -1976.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -700.4591318924736, + -1973.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -700.4591318924736, + -1970.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -700.4591318924736, + -1967.1782311268798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -700.4591318924736, + -1964.1782311268798, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.4591318924736, + -1964.1782311268798, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -700.4591318924736, + -1964.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -700.4591318924736, + -1961.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -700.4591318924736, + -1958.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.4591318924736, + -1955.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -700.4591318924736, + -1952.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -700.4591318924736, + -1949.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -700.4591318924736, + -1946.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -700.4591318924736, + -1943.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -700.4591318924736, + -1940.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -700.4591318924736, + -1937.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -700.4591318924736, + -1934.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -700.4591318924736, + -1931.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -700.4591318924736, + -1928.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -700.4591318924736, + -1925.1782311268798, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -700.4591318924736, + -1922.1782311268798, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -700.4591318924736, + -1922.1782311268798, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -700.4591318924736, + -1922.1782311268798, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-26-29_241892/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-26-29_241892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1e073ce65e683a0209250128b7d8c135ca7a704 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-26-29_241892/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -799.2982108482613, + -1994.3920328639203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -796.2982108482613, + -1994.3920328639203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -793.2982108482613, + -1994.3920328639203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -790.2982108482613, + -1994.3920328639203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -787.2982108482613, + -1994.3920328639203, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.2982108482613, + -1994.3920328639203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -784.7001346369079, + -1992.8920328639203, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -784.7001346369079, + -1992.8920328639203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -783.2001346369079, + -1990.293956652567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.7001346369079, + -1987.6958804412136, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -781.7001346369079, + -1987.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -779.1020584255546, + -1986.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -776.5039822142012, + -1984.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.9059060028478, + -1983.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.3078297914944, + -1981.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.7097535801411, + -1980.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -766.1116773687877, + -1978.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -763.5136011574343, + -1977.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -760.915524946081, + -1975.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -758.3174487347276, + -1974.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -755.7193725233742, + -1972.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -753.1212963120208, + -1971.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -750.5232201006675, + -1969.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -747.9251438893141, + -1968.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -745.3270676779607, + -1966.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -742.7289914666073, + -1965.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -740.130915255254, + -1963.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -737.5328390439006, + -1962.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -734.9347628325472, + -1960.6958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -732.3366866211938, + -1959.1958804412136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -729.7386104098405, + -1957.6958804412136, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.7386104098405, + -1957.6958804412136, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -729.7386104098405, + -1957.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -727.1405341984871, + -1956.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -724.5424579871337, + -1954.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -721.9443817757804, + -1953.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -719.346305564427, + -1951.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -716.7482293530736, + -1950.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -714.1501531417202, + -1948.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -711.5520769303669, + -1947.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -708.9540007190135, + -1945.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -706.3559245076601, + -1944.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -703.7578482963067, + -1942.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -701.1597720849534, + -1941.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -698.5616958736, + -1939.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -695.9636196622466, + -1938.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -693.3655434508933, + -1936.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -690.7674672395399, + -1935.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -688.1693910281865, + -1933.6958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -685.5713148168331, + -1932.1958804412136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -682.9732386054798, + -1930.6958804412136, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -682.9732386054798, + -1930.6958804412136, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -680.3751623941264, + -1929.1958804412136, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-29-47_418431/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-29-47_418431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..daba013e28e3e338ae29120903225f8d92b47b44 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-29-47_418431/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -727.5555559125985, + -2065.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -727.5555559125985, + -2062.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -727.5555559125985, + -2059.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -727.5555559125985, + -2056.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -727.5555559125985, + -2053.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -727.5555559125985, + -2050.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -727.5555559125985, + -2047.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -727.5555559125985, + -2044.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -727.5555559125985, + -2041.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -727.5555559125985, + -2038.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.5555559125985, + -2035.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -727.5555559125985, + -2032.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.5555559125985, + -2029.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -727.5555559125985, + -2026.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -727.5555559125985, + -2023.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -727.5555559125985, + -2020.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.5555559125985, + -2017.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -727.5555559125985, + -2014.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -727.5555559125985, + -2011.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -727.5555559125985, + -2008.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -727.5555559125985, + -2005.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -727.5555559125985, + -2002.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -727.5555559125985, + -1999.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -727.5555559125985, + -1996.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -727.5555559125985, + -1993.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -727.5555559125985, + -1990.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.5555559125985, + -1987.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -727.5555559125985, + -1984.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -727.5555559125985, + -1981.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -727.5555559125985, + -1978.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -727.5555559125985, + -1975.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -727.5555559125985, + -1972.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.5555559125985, + -1969.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -727.5555559125985, + -1966.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -727.5555559125985, + -1963.6217179631485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -727.5555559125985, + -1960.6217179631485, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -727.5555559125985, + -1960.6217179631485, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -727.5555559125985, + -1960.6217179631485, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -727.5555559125985, + -1960.6217179631485, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -726.0555559125985, + -1958.0236417517951, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -724.5555559125985, + -1955.4255655404418, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -723.0555559125985, + -1952.8274893290884, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -721.5555559125985, + -1950.229413117735, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -720.0555559125985, + -1947.6313369063816, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -718.5555559125985, + -1945.0332606950283, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -717.0555559125985, + -1942.435184483675, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -715.5555559125985, + -1939.8371082723215, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -714.0555559125985, + -1937.2390320609682, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -712.5555559125985, + -1934.6409558496148, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -711.0555559125985, + -1932.0428796382614, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -709.5555559125985, + -1929.444803426908, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -708.0555559125985, + -1926.8467272155547, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -706.5555559125985, + -1924.2486510042013, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -705.0555559125985, + -1921.650574792848, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -705.0555559125985, + -1921.650574792848, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -705.0555559125985, + -1921.650574792848, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-33-01_865887/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-33-01_865887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b730fdcfd19ebaf73c7bf7c1bfb1d190ff46bfbc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-33-01_865887/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -792.3199685907123, + -2007.4268375874763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.7218923793589, + -2005.9268375874763, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -789.7218923793589, + -2005.9268375874763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -788.2218923793589, + -2003.3287613761229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -786.7218923793589, + -2000.7306851647695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -785.2218923793589, + -1998.1326089534161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.7218923793589, + -1995.5345327420628, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -783.7218923793589, + -1995.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -781.1238161680055, + -1994.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -778.5257399566522, + -1992.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.9276637452988, + -1991.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -773.3295875339454, + -1989.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -770.731511322592, + -1988.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -768.1334351112387, + -1986.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -765.5353588998853, + -1985.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -762.9372826885319, + -1983.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -760.3392064771785, + -1982.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -757.7411302658252, + -1980.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -755.1430540544718, + -1979.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -752.5449778431184, + -1977.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -749.9469016317651, + -1976.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -747.3488254204117, + -1974.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -744.7507492090583, + -1973.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -742.1526729977049, + -1971.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -739.5545967863516, + -1970.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -736.9565205749982, + -1968.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -734.3584443636448, + -1967.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -731.7603681522914, + -1965.5345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -729.1622919409381, + -1964.0345327420628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -726.5642157295847, + -1962.5345327420628, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -726.5642157295847, + -1962.5345327420628, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -726.5642157295847, + -1962.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -723.9661395182313, + -1961.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -721.368063306878, + -1959.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -718.7699870955246, + -1958.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -716.1719108841712, + -1956.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -713.5738346728178, + -1955.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -710.9757584614645, + -1953.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -708.3776822501111, + -1952.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -705.7796060387577, + -1950.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -703.1815298274043, + -1949.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -700.583453616051, + -1947.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -697.9853774046976, + -1946.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -695.3873011933442, + -1944.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -692.7892249819909, + -1943.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -690.1911487706375, + -1941.5345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -687.5930725592841, + -1940.0345327420628, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -684.9949963479307, + -1938.5345327420628, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -684.9949963479307, + -1938.5345327420628, + -204.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -684.9949963479307, + -1938.5345327420628, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -683.4949963479307, + -1935.9364565307094, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -681.9949963479307, + -1933.338380319356, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -681.9949963479307, + -1933.338380319356, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-37-49_708374/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-37-49_708374/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ea2d378b7e06973f77a2b6bed464098e94db31a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-37-49_708374/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.9812781576001, + -2000.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -788.3832019462468, + -1999.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -785.7851257348934, + -1997.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -783.18704952354, + -1996.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -780.5889733121867, + -1994.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -777.9908971008333, + -1993.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -775.3928208894799, + -1991.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -772.7947446781266, + -1990.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -770.1966684667732, + -1988.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -767.5985922554198, + -1987.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.0005160440664, + -1985.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.4024398327131, + -1984.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -759.8043636213597, + -1982.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -757.2062874100063, + -1981.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -754.608211198653, + -1979.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.0101349872996, + -1978.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.4120587759462, + -1976.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -746.8139825645928, + -1975.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -744.2159063532395, + -1973.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -741.6178301418861, + -1972.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -739.0197539305327, + -1970.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -736.4216777191793, + -1969.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.823601507826, + -1967.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -731.2255252964726, + -1966.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.6274490851192, + -1964.6056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -726.0293728737659, + -1963.1056808038804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -723.4312966624125, + -1961.6056808038804, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -723.4312966624125, + -1961.6056808038804, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -723.4312966624125, + -1961.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -720.8332204510591, + -1960.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -718.2351442397057, + -1958.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -715.6370680283524, + -1957.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -713.038991816999, + -1955.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -710.4409156056456, + -1954.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -707.8428393942922, + -1952.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -705.2447631829389, + -1951.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -702.6466869715855, + -1949.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -700.0486107602321, + -1948.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -697.4505345488787, + -1946.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -694.8524583375254, + -1945.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -692.254382126172, + -1943.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -689.6563059148186, + -1942.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.0582297034653, + -1940.6056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -684.4601534921119, + -1939.1056808038804, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -684.4601534921119, + -1939.1056808038804, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -682.9601534921119, + -1936.507604592527, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -681.4601534921119, + -1933.9095283811737, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -681.4601534921119, + -1933.9095283811737, + -204.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -679.9601534921119, + -1931.3114521698203, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-40-16_428283/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-40-16_428283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b56c0b1f63a96d5c035abc6a1c24c460ae30d06 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-40-16_428283/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -727.131826085553, + -2059.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -727.131826085553, + -2056.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -727.131826085553, + -2053.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -727.131826085553, + -2050.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -727.131826085553, + -2047.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -727.131826085553, + -2044.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -727.131826085553, + -2041.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -727.131826085553, + -2038.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -727.131826085553, + -2035.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -727.131826085553, + -2032.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.131826085553, + -2029.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -727.131826085553, + -2026.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.131826085553, + -2023.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -727.131826085553, + -2020.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -727.131826085553, + -2017.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -727.131826085553, + -2014.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.131826085553, + -2011.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -727.131826085553, + -2008.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -727.131826085553, + -2005.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -727.131826085553, + -2002.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -727.131826085553, + -1999.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -727.131826085553, + -1996.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -727.131826085553, + -1993.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -727.131826085553, + -1990.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -727.131826085553, + -1987.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -727.131826085553, + -1984.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.131826085553, + -1981.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -727.131826085553, + -1978.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -727.131826085553, + -1975.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -727.131826085553, + -1972.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -727.131826085553, + -1969.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -727.131826085553, + -1966.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.131826085553, + -1963.9748842932563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -727.131826085553, + -1960.9748842932563, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -727.131826085553, + -1960.9748842932563, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -727.131826085553, + -1960.9748842932563, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -727.131826085553, + -1960.9748842932563, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -725.631826085553, + -1958.376808081903, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -724.131826085553, + -1955.7787318705496, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -722.631826085553, + -1953.1806556591962, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -721.131826085553, + -1950.5825794478428, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -719.631826085553, + -1947.9845032364894, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -718.131826085553, + -1945.386427025136, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -716.631826085553, + -1942.7883508137827, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -715.131826085553, + -1940.1902746024293, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -713.631826085553, + -1937.592198391076, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -712.131826085553, + -1934.9941221797226, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -710.631826085553, + -1932.3960459683692, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -709.131826085553, + -1929.7979697570158, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -707.631826085553, + -1927.1998935456625, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -707.631826085553, + -1927.1998935456625, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -707.631826085553, + -1924.1998935456625, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -707.631826085553, + -1921.1998935456625, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -707.631826085553, + -1921.1998935456625, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-44-28_597114/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-44-28_597114/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..151448137ae1f5e1ea36de8d614a41e65c9563c3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-44-28_597114/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -807.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -804.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -801.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -798.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -795.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -792.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -789.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -786.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -783.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -780.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -777.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -774.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -771.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.0181817534524, + -1985.5548687756213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.5181817534524, + -1982.956792564268, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.0181817534524, + -1980.3587163529146, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -766.5181817534524, + -1977.7606401415612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.0181817534524, + -1975.1625639302079, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -763.5181817534524, + -1972.5644877188545, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -763.5181817534524, + -1972.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -760.920105542099, + -1971.0644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -758.3220293307456, + -1969.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -755.7239531193923, + -1968.0644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -753.1258769080389, + -1966.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -750.5278006966855, + -1965.0644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -747.9297244853321, + -1963.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -745.3316482739788, + -1962.0644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -742.7335720626254, + -1960.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -740.135495851272, + -1959.0644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -737.5374196399187, + -1957.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -734.9393434285653, + -1956.0644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -732.3412672172119, + -1954.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.7431910058585, + -1953.0644877188545, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -729.7431910058585, + -1953.0644877188545, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -729.7431910058585, + -1953.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -727.1451147945052, + -1951.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -724.5470385831518, + -1950.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -721.9489623717984, + -1948.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -719.350886160445, + -1947.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -716.7528099490917, + -1945.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -714.1547337377383, + -1944.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -711.5566575263849, + -1942.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -708.9585813150316, + -1941.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -706.3605051036782, + -1939.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -703.7624288923248, + -1938.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -701.1643526809714, + -1936.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -698.5662764696181, + -1935.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -695.9682002582647, + -1933.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -693.3701240469113, + -1932.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -690.7720478355579, + -1930.5644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -688.1739716242046, + -1929.0644877188545, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -685.5758954128512, + -1927.5644877188545, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -685.5758954128512, + -1927.5644877188545, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -685.5758954128512, + -1927.5644877188545, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -685.5758954128512, + -1927.5644877188545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -682.5758954128512, + -1927.5644877188545, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-55-06_832305/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-55-06_832305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e56ded3638dabcf32050e8677367d7ce00f02b6b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_00-55-06_832305/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -740.807360083282, + -2043.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -740.807360083282, + -2040.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -740.807360083282, + -2037.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.807360083282, + -2034.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.807360083282, + -2031.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.807360083282, + -2028.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -740.807360083282, + -2025.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -740.807360083282, + -2022.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -740.807360083282, + -2019.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -740.807360083282, + -2016.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.807360083282, + -2013.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.807360083282, + -2010.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -740.807360083282, + -2007.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.807360083282, + -2004.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -740.807360083282, + -2001.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -740.807360083282, + -1998.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.807360083282, + -1995.6384323787038, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -740.807360083282, + -1995.6384323787038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -739.307360083282, + -1993.0403561673504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -737.807360083282, + -1990.442279955997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -736.307360083282, + -1987.8442037446437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -734.807360083282, + -1985.2461275332903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.307360083282, + -1982.648051321937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -731.807360083282, + -1980.0499751105835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -730.307360083282, + -1977.4518988992302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -728.807360083282, + -1974.8538226878768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.307360083282, + -1972.2557464765234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -725.807360083282, + -1969.65767026517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -724.307360083282, + -1967.0595940538167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -722.807360083282, + -1964.4615178424633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -721.307360083282, + -1961.86344163111, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -721.307360083282, + -1961.86344163111, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -721.307360083282, + -1961.86344163111, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -719.807360083282, + -1959.2653654197566, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -718.307360083282, + -1956.6672892084032, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -716.807360083282, + -1954.0692129970498, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -715.307360083282, + -1951.4711367856964, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -713.807360083282, + -1948.873060574343, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -712.307360083282, + -1946.2749843629897, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.807360083282, + -1943.6769081516363, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -710.807360083282, + -1943.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -710.807360083282, + -1940.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -710.807360083282, + -1937.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -710.807360083282, + -1934.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -710.807360083282, + -1931.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -710.807360083282, + -1928.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -710.807360083282, + -1925.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -710.807360083282, + -1922.6769081516363, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -710.807360083282, + -1919.6769081516363, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -710.807360083282, + -1919.6769081516363, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -710.807360083282, + -1919.6769081516363, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-01-45_710533/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-01-45_710533/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dba99bd44e7b780669e6f00c9cf67ec075281506 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-01-45_710533/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -799.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -796.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -793.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -790.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -784.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -781.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -778.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.1278873634367, + -1991.0578940625774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.6278873634367, + -1988.459817851224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -775.1278873634367, + -1985.8617416398706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.6278873634367, + -1983.2636654285172, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -773.6278873634367, + -1983.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -771.0298111520833, + -1981.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -768.4317349407299, + -1980.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.8336587293766, + -1978.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -763.2355825180232, + -1977.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -760.6375063066698, + -1975.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -758.0394300953164, + -1974.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -755.4413538839631, + -1972.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -752.8432776726097, + -1971.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -750.2452014612563, + -1969.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -747.647125249903, + -1968.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -745.0490490385496, + -1966.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -742.4509728271962, + -1965.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -739.8528966158428, + -1963.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -737.2548204044895, + -1962.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.6567441931361, + -1960.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -732.0586679817827, + -1959.2636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.4605917704293, + -1957.7636654285172, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -729.4605917704293, + -1957.7636654285172, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -729.4605917704293, + -1957.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -726.862515559076, + -1956.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -724.2644393477226, + -1954.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -721.6663631363692, + -1953.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -719.0682869250159, + -1951.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -716.4702107136625, + -1950.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -713.8721345023091, + -1948.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -711.2740582909557, + -1947.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -708.6759820796024, + -1945.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -706.077905868249, + -1944.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -703.4798296568956, + -1942.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -700.8817534455422, + -1941.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -698.2836772341889, + -1939.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.6856010228355, + -1938.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -693.0875248114821, + -1936.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -690.4894486001288, + -1935.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -687.8913723887754, + -1933.7636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -685.293296177422, + -1932.2636654285172, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -682.6952199660686, + -1930.7636654285172, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -682.6952199660686, + -1930.7636654285172, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -682.6952199660686, + -1930.7636654285172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -680.0971437547153, + -1929.2636654285172, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-09-41_568776/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-09-41_568776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5b9c79606eec868c0e338b32b3f46a4c2b8508d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-09-41_568776/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.1015567801196, + -1992.2181958802084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.1015567801196, + -1992.2181958802084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -784.1015567801196, + -1992.2181958802084, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -784.1015567801196, + -1992.2181958802084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -781.5034805687662, + -1990.7181958802084, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -781.5034805687662, + -1990.7181958802084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -780.0034805687662, + -1988.120119668855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -778.5034805687662, + -1985.5220434575017, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.5034805687662, + -1985.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.9054043574129, + -1984.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -773.3073281460595, + -1982.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -770.7092519347061, + -1981.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -768.1111757233527, + -1979.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.5130995119994, + -1978.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -762.915023300646, + -1976.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -760.3169470892926, + -1975.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -757.7188708779393, + -1973.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -755.1207946665859, + -1972.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -752.5227184552325, + -1970.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -749.9246422438791, + -1969.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -747.3265660325258, + -1967.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -744.7284898211724, + -1966.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -742.130413609819, + -1964.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.5323373984656, + -1963.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.9342611871123, + -1961.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -734.3361849757589, + -1960.0220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -731.7381087644055, + -1958.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -729.1400325530522, + -1957.0220434575017, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -729.1400325530522, + -1957.0220434575017, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -729.1400325530522, + -1957.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -726.5419563416988, + -1955.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -723.9438801303454, + -1954.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -721.345803918992, + -1952.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -718.7477277076387, + -1951.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -716.1496514962853, + -1949.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -713.5515752849319, + -1948.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -710.9534990735785, + -1946.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -708.3554228622252, + -1945.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -705.7573466508718, + -1943.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -703.1592704395184, + -1942.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -700.561194228165, + -1940.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -697.9631180168117, + -1939.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -695.3650418054583, + -1937.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -692.7669655941049, + -1936.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -690.1688893827516, + -1934.5220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -687.5708131713982, + -1933.0220434575017, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -684.9727369600448, + -1931.5220434575017, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -684.9727369600448, + -1931.5220434575017, + -204.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -684.9727369600448, + -1931.5220434575017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -682.3746607486914, + -1930.0220434575017, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-10-28_301768/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-10-28_301768/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7d1d42236358f67bebf076021b9c050a421c920 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-01-19_01-10-28_301768/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -721.0712916535216, + -2046.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -721.0712916535216, + -2043.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -721.0712916535216, + -2040.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -721.0712916535216, + -2037.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -721.0712916535216, + -2034.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -721.0712916535216, + -2031.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -721.0712916535216, + -2028.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -721.0712916535216, + -2025.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -721.0712916535216, + -2022.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -721.0712916535216, + -2019.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -721.0712916535216, + -2016.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -721.0712916535216, + -2013.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -721.0712916535216, + -2010.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -721.0712916535216, + -2007.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -721.0712916535216, + -2004.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -721.0712916535216, + -2001.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -721.0712916535216, + -1998.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -721.0712916535216, + -1995.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -721.0712916535216, + -1992.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.0712916535216, + -1989.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -721.0712916535216, + -1986.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -721.0712916535216, + -1983.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -721.0712916535216, + -1980.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -721.0712916535216, + -1977.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -721.0712916535216, + -1974.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -721.0712916535216, + -1971.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -721.0712916535216, + -1968.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -721.0712916535216, + -1965.9000897424469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -721.0712916535216, + -1962.9000897424469, + -207.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -721.0712916535216, + -1962.9000897424469, + -204.99076791761004 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -721.0712916535216, + -1962.9000897424469, + -201.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -721.0712916535216, + -1962.9000897424469, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -719.5712916535216, + -1960.3020135310935, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -718.0712916535216, + -1957.7039373197401, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -716.5712916535216, + -1955.1058611083868, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -715.0712916535216, + -1952.5077848970334, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -713.5712916535216, + -1949.90970868568, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -712.0712916535216, + -1947.3116324743266, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -710.5712916535216, + -1944.7135562629733, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -709.0712916535216, + -1942.11548005162, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -707.5712916535216, + -1939.5174038402665, + -201.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -707.5712916535216, + -1939.5174038402665, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -707.5712916535216, + -1936.5174038402665, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -707.5712916535216, + -1933.5174038402665, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -707.5712916535216, + -1930.5174038402665, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -707.5712916535216, + -1927.5174038402665, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -707.5712916535216, + -1924.5174038402665, + -201.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -707.5712916535216, + -1921.5174038402665, + -201.99076791761004 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -707.5712916535216, + -1921.5174038402665, + -204.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-19-13_1974806403/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-19-13_1974806403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7512777921aaed408fe8e6816ddd579e30051b0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-19-13_1974806403/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -677.1313135800576, + -1778.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.1313135800576, + -1781.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -677.1313135800576, + -1784.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -677.1313135800576, + -1787.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -677.1313135800576, + -1790.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.1313135800576, + -1793.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.1313135800576, + -1796.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.1313135800576, + -1799.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -677.1313135800576, + -1802.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -677.1313135800576, + -1805.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -677.1313135800576, + -1808.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.1313135800576, + -1811.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -677.1313135800576, + -1814.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.1313135800576, + -1817.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.1313135800576, + -1820.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.1313135800576, + -1823.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.1313135800576, + -1826.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -677.1313135800576, + -1829.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -677.1313135800576, + -1832.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.1313135800576, + -1835.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -677.1313135800576, + -1838.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.1313135800576, + -1841.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -677.1313135800576, + -1844.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.1313135800576, + -1847.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.1313135800576, + -1850.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -677.1313135800576, + -1853.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -677.1313135800576, + -1856.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -677.1313135800576, + -1859.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -677.1313135800576, + -1862.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -677.1313135800576, + -1865.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -677.1313135800576, + -1868.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -677.1313135800576, + -1871.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -677.1313135800576, + -1874.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -677.1313135800576, + -1877.5856616892295, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -677.1313135800576, + -1877.5856616892295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -678.6313135800576, + -1880.1837379005829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -680.1313135800576, + -1882.7818141119362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -681.6313135800576, + -1885.3798903232896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -683.1313135800576, + -1887.977966534643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -684.6313135800576, + -1890.5760427459963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -686.1313135800576, + -1893.1741189573497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.6313135800576, + -1895.772195168703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -689.1313135800576, + -1898.3702713800565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -690.6313135800576, + -1900.9683475914098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -692.1313135800576, + -1903.5664238027632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -693.6313135800576, + -1906.1645000141166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.1313135800576, + -1908.76257622547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -696.6313135800576, + -1911.3606524368233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.1313135800576, + -1913.9587286481767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -699.6313135800576, + -1916.55680485953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -701.1313135800576, + -1919.1548810708834, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -701.1313135800576, + -1919.1548810708834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -703.729389791411, + -1920.6548810708834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -706.3274660027644, + -1922.1548810708834, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-2-10_1886086990/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-2-10_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..481e25efde50f03b3618eb776610196de2471578 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-2-10_1886086990/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1032.0773353979362, + -2810.402718915481, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1030.5773353979362, + -2813.000795126834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1029.0773353979362, + -2815.598871338187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1027.5773353979362, + -2818.1969475495403, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1026.0773353979362, + -2820.7950237608934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1024.5773353979362, + -2823.3930999722465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1023.0773353979362, + -2825.9911761835997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1021.5773353979362, + -2828.589252394953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1020.0773353979362, + -2831.187328606306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1018.5773353979362, + -2833.785404817659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1017.0773353979362, + -2836.3834810290123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1015.5773353979362, + -2838.9815572403654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1014.0773353979362, + -2841.5796334517186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1012.5773353979362, + -2844.1777096630717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1011.0773353979362, + -2846.775785874425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1009.5773353979362, + -2849.373862085778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1008.0773353979362, + -2851.971938297131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1006.5773353979362, + -2854.5700145084843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1005.0773353979362, + -2857.1680907198374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1003.5773353979362, + -2859.7661669311906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1002.0773353979362, + -2862.3642431425437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.5773353979362, + -2864.962319353897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -999.0773353979362, + -2867.56039556525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.5773353979362, + -2870.158471776603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -996.0773353979362, + -2872.7565479879563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -994.5773353979362, + -2875.3546241993095, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -993.0773353979362, + -2877.9527004106626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -991.5773353979362, + -2880.5507766220157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -990.0773353979362, + -2883.148852833369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -988.5773353979362, + -2885.746929044722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.0773353979362, + -2888.345005256075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -985.5773353979362, + -2890.9430814674283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -984.0773353979362, + -2893.5411576787815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -982.5773353979362, + -2896.1392338901346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -981.0773353979362, + -2898.7373101014878, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -981.0773353979362, + -2898.7373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -978.4792591865828, + -2900.2373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -975.8811829752294, + -2901.7373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -973.283106763876, + -2903.2373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -970.6850305525227, + -2904.7373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -968.0869543411693, + -2906.2373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -965.4888781298159, + -2907.7373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -962.8908019184626, + -2909.2373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -960.2927257071092, + -2910.7373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -957.6946494957558, + -2912.2373101014878, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -957.6946494957558, + -2912.2373101014878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -956.1946494957558, + -2914.835386312841, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -954.6946494957558, + -2917.433462524194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -953.1946494957558, + -2920.031538735547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -951.6946494957558, + -2922.6296149469003, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-21-54_1387036159/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-21-54_1387036159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d7cba2e6e723108d2963f23f5cbefab63e8c922 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-21-54_1387036159/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -778.3339949275392, + -2041.0693127032798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -776.8339949275392, + -2038.4712364919264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -775.3339949275392, + -2035.873160280573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -773.8339949275392, + -2033.2750840692197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -772.3339949275392, + -2030.6770078578663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -770.8339949275392, + -2028.078931646513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -769.3339949275392, + -2025.4808554351596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -767.8339949275392, + -2022.8827792238062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -766.3339949275392, + -2020.2847030124528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -764.8339949275392, + -2017.6866268010995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.3339949275392, + -2015.088550589746, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -761.8339949275392, + -2012.4904743783927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -760.3339949275392, + -2009.8923981670393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -758.8339949275392, + -2007.294321955686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -757.3339949275392, + -2004.6962457443326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -755.8339949275392, + -2002.0981695329792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.3339949275392, + -1999.5000933216259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -752.8339949275392, + -1996.9020171102725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -751.3339949275392, + -1994.303940898919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -749.8339949275392, + -1991.7058646875657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.3339949275392, + -1989.1077884762124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -746.8339949275392, + -1986.509712264859, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -745.3339949275392, + -1983.9116360535056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -743.8339949275392, + -1981.3135598421522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -742.3339949275392, + -1978.7154836307989, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -740.8339949275392, + -1976.1174074194455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -739.3339949275392, + -1973.5193312080921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -737.8339949275392, + -1970.9212549967388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -736.3339949275392, + -1968.3231787853854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.8339949275392, + -1965.725102574032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -733.3339949275392, + -1963.1270263626786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -731.8339949275392, + -1960.5289501513253, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -731.8339949275392, + -1960.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -731.8339949275392, + -1957.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -731.8339949275392, + -1954.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -731.8339949275392, + -1951.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -731.8339949275392, + -1948.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -731.8339949275392, + -1945.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -731.8339949275392, + -1942.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -731.8339949275392, + -1939.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -731.8339949275392, + -1936.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -731.8339949275392, + -1933.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -731.8339949275392, + -1930.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -731.8339949275392, + -1927.5289501513253, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -731.8339949275392, + -1927.5289501513253, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -731.8339949275392, + -1927.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -729.2359187161858, + -1926.0289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -726.6378425048324, + -1924.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -724.039766293479, + -1923.0289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -721.4416900821257, + -1921.5289501513253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -718.8436138707723, + -1920.0289501513253, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-30-1_1329202900/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-30-1_1329202900/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5f974cbcbd115d39cff4b473e72a1ecc23370b3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-30-1_1329202900/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -980.8283161065623, + -2777.2752625599587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -979.3283161065623, + -2779.873338771312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -977.8283161065623, + -2782.471414982665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -976.3283161065623, + -2785.069491194018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -974.8283161065623, + -2787.6675674053713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -973.3283161065623, + -2790.2656436167244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -971.8283161065623, + -2792.8637198280776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -970.3283161065623, + -2795.4617960394307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -968.8283161065623, + -2798.059872250784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -967.3283161065623, + -2800.657948462137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -965.8283161065623, + -2803.25602467349, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -964.3283161065623, + -2805.8541008848433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -962.8283161065623, + -2808.4521770961965, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.8283161065623, + -2808.4521770961965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -960.230239895209, + -2809.9521770961965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -957.6321636838557, + -2811.4521770961965, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -957.6321636838557, + -2811.4521770961965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.1321636838557, + -2814.0502533075496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -954.6321636838557, + -2816.6483295189028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -953.1321636838557, + -2819.246405730256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -951.6321636838557, + -2821.844481941609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -950.1321636838557, + -2824.442558152962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -948.6321636838557, + -2827.0406343643153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -947.1321636838557, + -2829.6387105756685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -945.6321636838557, + -2832.2367867870216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -944.1321636838557, + -2834.834862998375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -942.6321636838557, + -2837.432939209728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.1321636838557, + -2840.031015421081, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -939.6321636838557, + -2842.629091632434, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -938.1321636838557, + -2845.2271678437874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.6321636838557, + -2847.8252440551405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -935.1321636838557, + -2850.4233202664936, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -935.1321636838557, + -2850.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -935.1321636838557, + -2853.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -935.1321636838557, + -2856.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -935.1321636838557, + -2859.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -935.1321636838557, + -2862.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -935.1321636838557, + -2865.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -935.1321636838557, + -2868.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -935.1321636838557, + -2871.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -935.1321636838557, + -2874.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -935.1321636838557, + -2877.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -935.1321636838557, + -2880.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -935.1321636838557, + -2883.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -935.1321636838557, + -2886.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -935.1321636838557, + -2889.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -935.1321636838557, + -2892.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -935.1321636838557, + -2895.4233202664936, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -935.1321636838557, + -2895.4233202664936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -936.6321636838557, + -2898.021396477847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -938.1321636838557, + -2900.6194726892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -939.6321636838557, + -2903.217548900553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -941.1321636838557, + -2905.8156251119062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -942.6321636838557, + -2908.4137013232594, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -942.6321636838557, + -2908.4137013232594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794925 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -942.6321636838557, + -2911.4137013232594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -942.6321636838557, + -2914.4137013232594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -942.6321636838557, + -2917.4137013232594, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-31-4_1219407971/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-31-4_1219407971/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a69cd450121327a0965371918e15aefc85d5753 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-31-4_1219407971/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 381.3467257929375, + -1319.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 378.7486495815842, + -1318.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 376.15057337023086, + -1316.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 373.55249715887754, + -1315.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 370.9544209475242, + -1313.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 368.3563447361709, + -1312.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 365.7582685248176, + -1310.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 363.1601923134643, + -1309.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 360.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 357.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 354.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 351.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 336.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 333.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.56211610211096, + -1307.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.96403989075765, + -1309.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 307.36596367940433, + -1310.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.767887468051, + -1312.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 302.1698112566977, + -1313.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 299.5717350453444, + -1315.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.97365883399107, + -1316.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.37558262263775, + -1318.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 291.77750641128443, + -1319.6430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.1794301999311, + -1321.1430748068135, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 289.1794301999311, + -1321.1430748068135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 287.6794301999311, + -1323.7411510181669, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 286.1794301999311, + -1326.3392272295202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 284.6794301999311, + -1328.9373034408736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 283.1794301999311, + -1331.535379652227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 281.6794301999311, + -1334.1334558635804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 280.1794301999311, + -1336.7315320749337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 278.6794301999311, + -1339.329608286287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 277.1794301999311, + -1341.9276844976405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 275.6794301999311, + -1344.5257607089939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 274.1794301999311, + -1347.1238369203472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 272.6794301999311, + -1349.7219131317006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.1794301999311, + -1352.319989343054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 269.6794301999311, + -1354.9180655544073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 268.1794301999311, + -1357.5161417657607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 266.6794301999311, + -1360.114217977114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 265.1794301999311, + -1362.7122941884675, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-46-31_1061730690/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-46-31_1061730690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06e33b45752df4e1f884557b938499b67649b099 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-46-31_1061730690/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 105.62445992661173, + -1663.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.62445992661173, + -1663.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.62445992661173, + -1663.9846668076543, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.62445992661173, + -1663.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.22253613796505, + -1662.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.82061234931837, + -1660.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 119.41868856067168, + -1659.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 122.016764772025, + -1657.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.61484098337831, + -1656.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.21291719473163, + -1654.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 129.81099340608495, + -1653.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 132.40906961743826, + -1651.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 135.00714582879158, + -1650.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 137.6052220401449, + -1648.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.2032982514982, + -1647.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 142.80137446285153, + -1645.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 145.39945067420484, + -1644.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 147.99752688555816, + -1642.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 150.59560309691147, + -1641.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 153.1936793082648, + -1639.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 155.7917555196181, + -1638.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 158.38983173097142, + -1636.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 160.98790794232474, + -1635.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 163.58598415367806, + -1633.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 166.18406036503137, + -1632.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 168.7821365763847, + -1630.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 171.380212787738, + -1629.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 173.97828899909132, + -1627.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 176.57636521044464, + -1626.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 179.17444142179795, + -1624.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 181.77251763315127, + -1623.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 184.37059384450458, + -1621.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 186.9686700558579, + -1620.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 189.56674626721122, + -1618.9846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 192.16482247856453, + -1617.4846668076543, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 192.16482247856453, + -1617.4846668076543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 193.66482247856453, + -1614.886590596301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 195.16482247856453, + -1612.2885143849476, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 196.66482247856453, + -1609.6904381735942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 198.16482247856453, + -1607.0923619622408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 199.66482247856453, + -1604.4942857508875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 201.16482247856453, + -1601.896209539534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 202.66482247856453, + -1599.2981333281807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 204.16482247856453, + -1596.7000571168273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 205.66482247856453, + -1594.101980905474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 207.16482247856453, + -1591.5039046941206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 208.66482247856453, + -1588.9058284827672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 210.16482247856453, + -1586.3077522714138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 211.66482247856453, + -1583.7096760600605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 213.16482247856453, + -1581.111599848707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 214.66482247856453, + -1578.5135236373537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 216.16482247856453, + -1575.9154474260004, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 216.16482247856453, + -1575.9154474260004, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 216.16482247856453, + -1575.9154474260004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 219.16482247856453, + -1575.9154474260004, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 9.547918011776346e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-48-7_1717226057/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-48-7_1717226057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49e1ffee39bf2b1ad793cf6521353752ea427a1a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-48-7_1717226057/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.772252153718, + -1314.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 399.1741759423647, + -1312.792042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.57609973101137, + -1311.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 393.97802351965805, + -1309.792042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 391.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 388.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 385.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 379.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 376.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 373.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 370.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 367.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 364.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 361.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 358.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 355.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 349.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 346.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 343.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 340.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 337.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 334.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 331.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 322.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 319.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 316.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 313.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 310.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 310.37994730830474, + -1308.292042762421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 308.87994730830474, + -1310.8901189737744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 307.37994730830474, + -1313.4881951851278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.87994730830474, + -1316.0862713964812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 304.37994730830474, + -1318.6843476078345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 302.87994730830474, + -1321.282423819188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.37994730830474, + -1323.8805000305413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 299.87994730830474, + -1326.4785762418946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 298.37994730830474, + -1329.076652453248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 296.87994730830474, + -1331.6747286646014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 295.37994730830474, + -1334.2728048759548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 293.87994730830474, + -1336.8708810873081, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 292.37994730830474, + -1339.4689572986615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 290.87994730830474, + -1342.0670335100149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 289.37994730830474, + -1344.6651097213683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 287.87994730830474, + -1347.2631859327216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 286.37994730830474, + -1349.861262144075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 284.87994730830474, + -1352.4593383554284, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 284.87994730830474, + -1352.4593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 282.2818710969514, + -1353.9593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 279.6837948855981, + -1355.4593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 277.0857186742448, + -1356.9593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 274.4876424628915, + -1358.4593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 271.88956625153816, + -1359.9593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 269.29149004018484, + -1361.4593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 266.6934138288315, + -1362.9593383554284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 264.0953376174782, + -1364.4593383554284, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-49-14_1276673168/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-49-14_1276673168/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d101cd79d0726c047eea3b35071b6cb2cc21378 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-49-14_1276673168/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.1553711801761, + -1313.2803081232316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 401.7534473915294, + -1311.7803081232316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.3515236028827, + -1310.2803081232316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 406.949599814236, + -1308.7803081232316, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 406.949599814236, + -1308.7803081232316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 408.449599814236, + -1306.1822319118783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 409.949599814236, + -1303.584155700525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.449599814236, + -1300.9860794891715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 412.949599814236, + -1298.3880032778181, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 414.449599814236, + -1295.7899270664648, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 414.449599814236, + -1295.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 417.04767602558934, + -1294.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 419.64575223694266, + -1292.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 422.24382844829597, + -1291.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 424.8419046596493, + -1289.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 427.4399808710026, + -1288.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 430.0380570823559, + -1286.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 432.63613329370924, + -1285.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 435.23420950506255, + -1283.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 437.83228571641587, + -1282.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 440.4303619277692, + -1280.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 443.0284381391225, + -1279.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 445.6265143504758, + -1277.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 448.22459056182913, + -1276.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 450.82266677318245, + -1274.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 453.42074298453576, + -1273.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 456.0188191958891, + -1271.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 458.6168954072424, + -1270.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 461.2149716185957, + -1268.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 463.813047829949, + -1267.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 466.41112404130234, + -1265.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 469.00920025265566, + -1264.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 471.607276464009, + -1262.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 474.2053526753623, + -1261.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 476.8034288867156, + -1259.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 479.4015050980689, + -1258.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 481.99958130942224, + -1256.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 484.59765752077556, + -1255.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 487.1957337321289, + -1253.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 489.7938099434822, + -1252.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 492.3918861548355, + -1250.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 494.9899623661888, + -1249.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 497.58803857754214, + -1247.7899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 500.18611478889545, + -1246.2899270664648, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 500.18611478889545, + -1246.2899270664648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 501.68611478889545, + -1243.6918508551114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 503.18611478889545, + -1241.093774643758, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-8-15_1315209188/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-8-15_1315209188/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4df49aab5dd1fe77768a9fd985df9aacf269e145 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_0-8-15_1315209188/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -673.6004428049929, + -2052.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -673.6004428049929, + -2049.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -673.6004428049929, + -2046.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.6004428049929, + -2043.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -673.6004428049929, + -2040.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -673.6004428049929, + -2037.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -673.6004428049929, + -2034.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -673.6004428049929, + -2031.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -673.6004428049929, + -2028.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -673.6004428049929, + -2025.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -673.6004428049929, + -2022.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -673.6004428049929, + -2019.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -673.6004428049929, + -2016.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -673.6004428049929, + -2013.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -673.6004428049929, + -2010.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -673.6004428049929, + -2007.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -673.6004428049929, + -2004.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.6004428049929, + -2001.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -673.6004428049929, + -1998.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -673.6004428049929, + -1995.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -673.6004428049929, + -1992.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -673.6004428049929, + -1989.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -673.6004428049929, + -1986.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -673.6004428049929, + -1983.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -673.6004428049929, + -1980.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -673.6004428049929, + -1977.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.6004428049929, + -1974.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -673.6004428049929, + -1971.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -673.6004428049929, + -1968.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -673.6004428049929, + -1965.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -673.6004428049929, + -1962.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -673.6004428049929, + -1959.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -673.6004428049929, + -1956.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -673.6004428049929, + -1953.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -673.6004428049929, + -1950.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -673.6004428049929, + -1947.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -673.6004428049929, + -1944.184333825276, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -673.6004428049929, + -1944.184333825276, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -673.6004428049929, + -1944.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -676.1985190163462, + -1942.684333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -678.7965952276995, + -1941.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -681.3946714390529, + -1939.684333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -683.9927476504063, + -1938.184333825276, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -683.9927476504063, + -1938.184333825276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -685.4927476504063, + -1935.5862576139227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -686.9927476504063, + -1932.9881814025694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -688.4927476504063, + -1930.390105191216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -689.9927476504063, + -1927.7920289798626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -691.4927476504063, + -1925.1939527685092, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -691.4927476504063, + -1925.1939527685092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -694.0908238617596, + -1923.6939527685092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -696.688900073113, + -1922.1939527685092, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-12-32_1745790417/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-12-32_1745790417/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9568087822ee0824fda8459a0a3759813bd62575 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-12-32_1745790417/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -33.49303361319474, + -1814.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -30.894957401841424, + -1813.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -28.296881190488108, + -1811.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -25.698804979134792, + -1810.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -23.100728767781476, + -1808.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -20.50265255642816, + -1807.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -17.904576345074844, + -1805.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -15.306500133721528, + -1804.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -12.708423922368212, + -1802.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -10.110347711014896, + -1801.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -7.51227149966158, + -1799.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -4.914195288308264, + -1798.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -2.316119076954948, + -1796.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 0.2819571343983682, + -1795.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 2.8800333457516842, + -1793.6779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 5.478109557105, + -1792.1779670124654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 5.478109557105, + -1792.1779670124654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 6.978109557105, + -1789.579890801112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 8.478109557105, + -1786.9818145897586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.978109557105, + -1784.3837383784053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 11.478109557105, + -1781.785662167052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 12.978109557105, + -1779.1875859556985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 14.478109557105, + -1776.5895097443452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 15.978109557105, + -1773.9914335329918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 17.478109557105, + -1771.3933573216384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 18.978109557105, + -1768.795281110285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 20.478109557105, + -1766.1972048989317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 21.978109557105, + -1763.5991286875783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 23.478109557105, + -1761.001052476225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 24.978109557105, + -1758.4029762648715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 26.478109557105, + -1755.8049000535182, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 27.978109557105, + -1753.2068238421648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 29.478109557105, + -1750.6087476308114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 30.978109557105, + -1748.010671419458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.478109557105, + -1745.4125952081047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 33.978109557105, + -1742.8145189967513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 35.478109557105, + -1740.216442785398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 36.978109557105, + -1737.6183665740446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 38.478109557105, + -1735.0202903626912, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 39.978109557105, + -1732.4222141513378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 41.478109557105, + -1729.8241379399844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 42.978109557105, + -1727.226061728631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 44.478109557105, + -1724.6279855172777, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-22-46_716334471/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-22-46_716334471/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d56f6f9bd54b32b4145bf8385b9bb19c6e3f6837 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-22-46_716334471/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.80489866503555, + -1473.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.80489866503555, + -1473.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.80489866503555, + -1473.6513774110192, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.80489866503555, + -1473.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -100.40297487638887, + -1472.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -103.00105108774218, + -1470.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.5991272990955, + -1469.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.19720351044882, + -1467.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -110.79527972180213, + -1466.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -113.39335593315545, + -1464.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -115.99143214450876, + -1463.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -118.58950835586208, + -1461.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -121.1875845672154, + -1460.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -123.78566077856871, + -1458.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -126.38373698992203, + -1457.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -128.98181320127534, + -1455.6513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -131.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -131.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -134.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -137.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -140.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -143.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -146.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -149.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -152.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -155.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -158.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -161.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -164.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -167.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -170.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -173.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -176.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -179.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -182.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -185.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -188.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -191.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -194.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -197.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -200.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -203.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -206.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -209.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -212.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -215.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -218.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -221.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -224.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -227.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -230.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -233.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -236.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -239.57988941262866, + -1454.1513774110192, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-32-37_1336092622/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-32-37_1336092622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0dd41d7a720b15ae065d4858327fb606489afd5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-32-37_1336092622/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -72.20030058512711, + -1431.422728789732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -73.70030058512711, + -1434.0208050010854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -75.20030058512711, + -1436.6188812124387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -76.70030058512711, + -1439.216957423792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -78.20030058512711, + -1441.8150336351455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -79.70030058512711, + -1444.4131098464989, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.20030058512711, + -1447.0111860578522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.70030058512711, + -1449.6092622692056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -84.20030058512711, + -1452.207338480559, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -85.70030058512711, + -1454.8054146919123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -87.20030058512711, + -1457.4034909032657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -88.70030058512711, + -1460.001567114619, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -90.20030058512711, + -1462.5996433259725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -91.70030058512711, + -1465.1977195373258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -93.20030058512711, + -1467.7957957486792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -94.70030058512711, + -1470.3938719600326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -96.20030058512711, + -1472.991948171386, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -97.70030058512711, + -1475.5900243827393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -99.20030058512711, + -1478.1881005940927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -100.70030058512711, + -1480.786176805446, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -100.70030058512711, + -1480.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -100.70030058512711, + -1483.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -100.70030058512711, + -1486.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -100.70030058512711, + -1489.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -100.70030058512711, + -1492.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -100.70030058512711, + -1495.786176805446, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -100.70030058512711, + -1495.786176805446, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -100.70030058512711, + -1495.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -103.29837679648043, + -1497.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -105.89645300783374, + -1498.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -108.49452921918706, + -1500.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -111.09260543054037, + -1501.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -113.69068164189369, + -1503.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -116.288757853247, + -1504.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -118.88683406460032, + -1506.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -121.48491027595364, + -1507.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -124.08298648730695, + -1509.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -126.68106269866027, + -1510.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.2791389100136, + -1512.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -131.8772151213669, + -1513.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -134.47529133272022, + -1515.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -137.07336754407353, + -1516.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -139.67144375542685, + -1518.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -142.26951996678017, + -1519.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -144.86759617813348, + -1521.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -147.4656723894868, + -1522.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -150.0637486008401, + -1524.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -152.66182481219343, + -1525.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -155.25990102354675, + -1527.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -157.85797723490006, + -1528.786176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -160.45605344625338, + -1530.286176805446, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -160.45605344625338, + -1530.286176805446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.95605344625338, + -1532.8842530167994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -163.45605344625338, + -1535.4823292281528, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-37-7_235745791/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-37-7_235745791/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8f5cd3d04e56018fa4e88cf842f16b062849a14 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-37-7_235745791/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1014.3982328843589, + -2803.4678557714265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1012.8982328843589, + -2806.0659319827796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1011.3982328843589, + -2808.6640081941327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1009.8982328843589, + -2811.262084405486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1008.3982328843589, + -2813.860160616839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1006.8982328843589, + -2816.458236828192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1005.3982328843589, + -2819.0563130395453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1003.8982328843589, + -2821.6543892508985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1002.3982328843589, + -2824.2524654622516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1000.8982328843589, + -2826.8505416736048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.3982328843589, + -2829.448617884958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -997.8982328843589, + -2832.046694096311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -996.3982328843589, + -2834.644770307664, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -996.3982328843589, + -2834.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -996.3982328843589, + -2837.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -996.3982328843589, + -2840.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -996.3982328843589, + -2843.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -996.3982328843589, + -2846.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -996.3982328843589, + -2849.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -996.3982328843589, + -2852.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -996.3982328843589, + -2855.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -996.3982328843589, + -2858.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -996.3982328843589, + -2861.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -996.3982328843589, + -2864.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -996.3982328843589, + -2867.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -996.3982328843589, + -2870.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -996.3982328843589, + -2873.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -996.3982328843589, + -2876.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -996.3982328843589, + -2879.644770307664, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -996.3982328843589, + -2879.644770307664, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -996.3982328843589, + -2879.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -993.8001566730056, + -2881.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -991.2020804616523, + -2882.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -988.6040042502989, + -2884.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -986.0059280389455, + -2885.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -983.4078518275921, + -2887.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -980.8097756162388, + -2888.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -978.2116994048854, + -2890.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -975.613623193532, + -2891.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -973.0155469821786, + -2893.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -970.4174707708253, + -2894.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -967.8193945594719, + -2896.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -965.2213183481185, + -2897.644770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -962.6232421367652, + -2899.144770307664, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -962.6232421367652, + -2899.144770307664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -961.1232421367652, + -2901.7428465190173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -959.6232421367652, + -2904.3409227303705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -958.1232421367652, + -2906.9389989417236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -956.6232421367652, + -2909.537075153077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -955.1232421367652, + -2912.13515136443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -953.6232421367652, + -2914.733227575783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -952.1232421367652, + -2917.331303787136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -950.6232421367652, + -2919.9293799984894, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-44-23_1291554098/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-44-23_1291554098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52e3eff26866c71a343260f2a6ccc4815bce74c3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-44-23_1291554098/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -157.3320452871269, + -1559.5927479505265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -158.8320452871269, + -1556.994671739173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -160.3320452871269, + -1554.3965955278197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -161.8320452871269, + -1551.7985193164664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.3320452871269, + -1549.200443105113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -164.8320452871269, + -1546.6023668937596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -166.3320452871269, + -1544.0042906824062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -167.8320452871269, + -1541.4062144710529, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.3320452871269, + -1538.8081382596995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -170.8320452871269, + -1536.2100620483461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -172.3320452871269, + -1533.6119858369927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -173.8320452871269, + -1531.0139096256394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -175.3320452871269, + -1528.415833414286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -176.8320452871269, + -1525.8177572029326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.3320452871269, + -1523.2196809915793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -179.8320452871269, + -1520.6216047802259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -181.3320452871269, + -1518.0235285688725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -182.8320452871269, + -1515.4254523575191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -184.3320452871269, + -1512.8273761461658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -185.8320452871269, + -1510.2292999348124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -187.3320452871269, + -1507.631223723459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -188.8320452871269, + -1505.0331475121056, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -188.8320452871269, + -1505.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -191.43012149848022, + -1503.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -194.02819770983353, + -1502.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -196.62627392118685, + -1500.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -199.22435013254017, + -1499.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -201.82242634389348, + -1497.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -204.4205025552468, + -1496.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -207.01857876660011, + -1494.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -209.61665497795343, + -1493.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -212.21473118930675, + -1491.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -214.81280740066006, + -1490.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -217.41088361201338, + -1488.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -220.0089598233667, + -1487.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -222.60703603472, + -1485.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -225.20511224607333, + -1484.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -227.80318845742664, + -1482.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -230.40126466877996, + -1481.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -232.99934088013327, + -1479.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -235.5974170914866, + -1478.0331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -238.1954933028399, + -1476.5331475121056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -240.79356951419322, + -1475.0331475121056, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-45-20_1905241081/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-45-20_1905241081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22ccb575d30a4f419abc56c757b6c3c71602589f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-45-20_1905241081/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -92.36883833454456, + -1412.9307829543268, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -93.86883833454456, + -1415.5288591656802, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -95.36883833454456, + -1418.1269353770335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -96.86883833454456, + -1420.725011588387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.36883833454456, + -1423.3230877997403, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -99.86883833454456, + -1425.9211640110937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.36883833454456, + -1428.519240222447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -102.86883833454456, + -1431.1173164338004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -104.36883833454456, + -1433.7153926451538, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -105.86883833454456, + -1436.3134688565071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.36883833454456, + -1438.9115450678605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -108.86883833454456, + -1441.509621279214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -110.36883833454456, + -1444.1076974905673, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.86883833454456, + -1446.7057737019206, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -113.36883833454456, + -1449.303849913274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -114.86883833454456, + -1451.9019261246274, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.86883833454456, + -1451.9019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -117.46691454589788, + -1453.4019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.0649907572512, + -1454.9019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -122.66306696860451, + -1456.4019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -125.26114317995783, + -1457.9019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -127.85921939131114, + -1459.4019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -130.45729560266446, + -1460.9019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -133.05537181401778, + -1462.4019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -135.6534480253711, + -1463.9019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -138.2515242367244, + -1465.4019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -140.84960044807772, + -1466.9019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -143.44767665943104, + -1468.4019261246274, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -143.44767665943104, + -1468.4019261246274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -144.94767665943104, + -1471.0000023359808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -146.44767665943104, + -1473.5980785473341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -147.94767665943104, + -1476.1961547586875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -149.44767665943104, + -1478.7942309700409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -150.94767665943104, + -1481.3923071813942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -152.44767665943104, + -1483.9903833927476, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -153.94767665943104, + -1486.588459604101, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -155.44767665943104, + -1489.1865358154544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -156.94767665943104, + -1491.7846120268077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -158.44767665943104, + -1494.382688238161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -159.94767665943104, + -1496.9807644495145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -161.44767665943104, + -1499.5788406608679, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -161.44767665943104, + -1499.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -161.44767665943104, + -1502.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -161.44767665943104, + -1505.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -161.44767665943104, + -1508.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -161.44767665943104, + -1511.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.44767665943104, + -1514.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -161.44767665943104, + -1517.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.44767665943104, + -1520.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -161.44767665943104, + -1523.5788406608679, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -161.44767665943104, + -1526.5788406608679, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-58-7_1344593499/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-58-7_1344593499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79e961df196a4281b51664afbc9ada02310c747d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-58-7_1344593499/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 436.6095538218626, + -1346.7491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 439.20763003321593, + -1345.2491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.80570624456925, + -1343.7491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 444.40378245592257, + -1342.2491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 447.0018586672759, + -1340.7491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 449.5999348786292, + -1339.2491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 452.1980110899825, + -1337.7491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 454.79608730133583, + -1336.2491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.39416351268915, + -1334.7491481263362, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 457.39416351268915, + -1334.7491481263362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 458.89416351268915, + -1332.1510719149828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 460.39416351268915, + -1329.5529957036294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 461.89416351268915, + -1326.954919492276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 463.39416351268915, + -1324.3568432809227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 464.89416351268915, + -1321.7587670695693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 466.39416351268915, + -1319.160690858216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 467.89416351268915, + -1316.5626146468626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 469.39416351268915, + -1313.9645384355092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 470.89416351268915, + -1311.3664622241558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 472.39416351268915, + -1308.7683860128025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 473.89416351268915, + -1306.170309801449, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 475.39416351268915, + -1303.5722335900957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 476.89416351268915, + -1300.9741573787423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 478.39416351268915, + -1298.376081167389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 479.89416351268915, + -1295.7780049560356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 481.39416351268915, + -1293.1799287446822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 482.89416351268915, + -1290.5818525333289, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 484.39416351268915, + -1287.9837763219755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 485.89416351268915, + -1285.385700110622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 487.39416351268915, + -1282.7876238992687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 488.89416351268915, + -1280.1895476879154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 490.39416351268915, + -1277.591471476562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 491.89416351268915, + -1274.9933952652086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 493.39416351268915, + -1272.3953190538552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 494.89416351268915, + -1269.7972428425019, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 496.39416351268915, + -1267.1991666311485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 497.89416351268915, + -1264.6010904197951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 499.39416351268915, + -1262.0030142084418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 500.89416351268915, + -1259.4049379970884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 502.39416351268915, + -1256.806861785735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 503.89416351268915, + -1254.2087855743816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 505.39416351268915, + -1251.6107093630283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 506.89416351268915, + -1249.012633151675, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-59-28_488663950/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-59-28_488663950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6117a4a881a7e7ec79e267aa14ab02024c30c184 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_1-59-28_488663950/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -155.76680044766943, + -1586.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.76680044766943, + -1583.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.76680044766943, + -1580.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -155.76680044766943, + -1577.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -155.76680044766943, + -1574.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -155.76680044766943, + -1571.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -155.76680044766943, + -1568.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -155.76680044766943, + -1565.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -155.76680044766943, + -1562.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -155.76680044766943, + -1559.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -155.76680044766943, + -1556.4888212640126, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -155.76680044766943, + -1556.4888212640126, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -155.76680044766943, + -1556.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -158.36487665902274, + -1554.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -160.96295287037606, + -1553.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -163.56102908172937, + -1551.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -166.1591052930827, + -1550.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -168.757181504436, + -1548.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -171.35525771578932, + -1547.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -173.95333392714264, + -1545.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -176.55141013849595, + -1544.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.14948634984927, + -1542.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -181.74756256120259, + -1541.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -184.3456387725559, + -1539.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -186.94371498390922, + -1538.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -189.54179119526253, + -1536.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -192.13986740661585, + -1535.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -194.73794361796917, + -1533.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -197.33601982932248, + -1532.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -199.9340960406758, + -1530.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -202.5321722520291, + -1529.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -205.13024846338243, + -1527.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -207.72832467473575, + -1526.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -210.32640088608906, + -1524.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -212.92447709744238, + -1523.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -215.5225533087957, + -1521.9888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -218.120629520149, + -1520.4888212640126, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -218.120629520149, + -1520.4888212640126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -219.620629520149, + -1517.8907450526592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -221.120629520149, + -1515.2926688413058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -222.620629520149, + -1512.6945926299525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -224.120629520149, + -1510.096516418599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -225.620629520149, + -1507.4984402072457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -227.120629520149, + -1504.9003639958923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -228.620629520149, + -1502.302287784539, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -230.120629520149, + -1499.7042115731856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -231.620629520149, + -1497.1061353618322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -233.120629520149, + -1494.5080591504789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -234.620629520149, + -1491.9099829391255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -236.120629520149, + -1489.311906727772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -237.620629520149, + -1486.7138305164187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -239.120629520149, + -1484.1157543050654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -239.120629520149, + -1484.1157543050654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -241.71870573150233, + -1482.6157543050654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -244.31678194285564, + -1481.1157543050654, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-0-42_95275444/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-0-42_95275444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6392169e51eb015a2ca05a9c7fd5938ec32857f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-0-42_95275444/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -52.66631634000312, + -1457.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.26439255135644, + -1458.754290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.86246876270975, + -1460.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -60.46054497406307, + -1461.754290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -63.058621185416385, + -1463.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.6566973967697, + -1464.754290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.25477360812302, + -1466.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.85284981947633, + -1467.754290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -73.45092603082965, + -1469.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -76.04900224218297, + -1470.754290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -78.64707845353628, + -1472.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.2451546648896, + -1473.754290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.84323087624291, + -1475.254290157352, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -83.84323087624291, + -1475.254290157352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -85.34323087624291, + -1477.8523663687054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -86.84323087624291, + -1480.4504425800587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -88.34323087624291, + -1483.048518791412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -89.84323087624291, + -1485.6465950027655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -91.34323087624291, + -1488.2446712141189, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -92.84323087624291, + -1490.8427474254722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -94.34323087624291, + -1493.4408236368256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -95.84323087624291, + -1496.038899848179, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -97.34323087624291, + -1498.6369760595323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -98.84323087624291, + -1501.2350522708857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -100.34323087624291, + -1503.833128482239, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.84323087624291, + -1506.4312046935925, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.84323087624291, + -1506.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -104.44130708759623, + -1507.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -107.03938329894955, + -1509.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -109.63745951030286, + -1510.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -112.23553572165618, + -1512.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -114.8336119330095, + -1513.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -117.43168814436281, + -1515.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -120.02976435571613, + -1516.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -122.62784056706944, + -1518.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -125.22591677842276, + -1519.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -127.82399298977607, + -1521.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -130.42206920112937, + -1522.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -133.0201454124827, + -1524.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -135.618221623836, + -1525.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -138.21629783518932, + -1527.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -140.81437404654264, + -1528.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -143.41245025789596, + -1530.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -146.01052646924927, + -1531.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -148.6086026806026, + -1533.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -151.2066788919559, + -1534.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -153.80475510330922, + -1536.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -156.40283131466254, + -1537.9312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -159.00090752601585, + -1539.4312046935925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -161.59898373736917, + -1540.9312046935925, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-1-10_1974571475/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-1-10_1974571475/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df084f323895ee0a170d0cdb951a142296e4d3b0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-1-10_1974571475/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.50013972851366, + -1368.8633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 392.90206351716034, + -1370.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.303987305807, + -1371.8633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 387.7059110944537, + -1373.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.1078348831004, + -1374.8633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 382.5097586717471, + -1376.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 379.91168246039376, + -1377.8633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 377.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 374.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 371.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 368.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 365.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 362.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 359.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 356.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 353.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 350.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 347.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 344.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 341.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 335.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 332.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 329.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 323.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 320.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 317.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 314.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 311.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.31360624904045, + -1379.3633080343282, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 309.81360624904045, + -1376.7652318229748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 308.31360624904045, + -1374.1671556116214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.81360624904045, + -1371.569079400268, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 305.31360624904045, + -1368.9710031889147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 303.81360624904045, + -1366.3729269775613, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 302.31360624904045, + -1363.774850766208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.81360624904045, + -1361.1767745548545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 299.31360624904045, + -1358.5786983435012, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 297.81360624904045, + -1355.9806221321478, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 296.31360624904045, + -1353.3825459207944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 294.81360624904045, + -1350.784469709441, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 293.31360624904045, + -1348.1863934980877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 291.81360624904045, + -1345.5883172867343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 290.31360624904045, + -1342.990241075381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 288.81360624904045, + -1340.3921648640276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 287.31360624904045, + -1337.7940886526742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 285.81360624904045, + -1335.1960124413208, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 285.81360624904045, + -1335.1960124413208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 283.21553003768713, + -1333.6960124413208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 280.6174538263338, + -1332.1960124413208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 278.0193776149805, + -1330.6960124413208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 275.4213014036272, + -1329.1960124413208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 272.82322519227387, + -1327.6960124413208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 270.22514898092055, + -1326.1960124413208, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-15-35_330546620/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-15-35_330546620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..076c0b300815593f09a33d3329437060589b930e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-15-35_330546620/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 199.51385287380887, + -1467.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 199.51385287380887, + -1464.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.51385287380887, + -1461.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 199.51385287380887, + -1458.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 199.51385287380887, + -1455.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.51385287380887, + -1452.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 199.51385287380887, + -1449.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 199.51385287380887, + -1446.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 199.51385287380887, + -1443.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 199.51385287380887, + -1440.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 199.51385287380887, + -1437.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 199.51385287380887, + -1434.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 199.51385287380887, + -1431.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 199.51385287380887, + -1428.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 199.51385287380887, + -1425.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 199.51385287380887, + -1422.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 199.51385287380887, + -1419.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 199.51385287380887, + -1416.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 199.51385287380887, + -1413.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 199.51385287380887, + -1410.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 199.51385287380887, + -1407.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 199.51385287380887, + -1404.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 199.51385287380887, + -1401.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 199.51385287380887, + -1398.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 199.51385287380887, + -1395.7306456384952, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 199.51385287380887, + -1395.7306456384952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 201.01385287380887, + -1393.1325694271418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 202.51385287380887, + -1390.5344932157884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 204.01385287380887, + -1387.936417004435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 205.51385287380887, + -1385.3383407930817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 207.01385287380887, + -1382.7402645817283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 208.51385287380887, + -1380.142188370375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 210.01385287380887, + -1377.5441121590216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 211.51385287380887, + -1374.9460359476682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 213.01385287380887, + -1372.3479597363148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 214.51385287380887, + -1369.7498835249614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 216.01385287380887, + -1367.151807313608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 217.51385287380887, + -1364.5537311022547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 219.01385287380887, + -1361.9556548909013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 220.51385287380887, + -1359.357578679548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 222.01385287380887, + -1356.7595024681946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.51385287380887, + -1354.1614262568412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 225.01385287380887, + -1351.5633500454878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 226.51385287380887, + -1348.9652738341345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 228.01385287380887, + -1346.367197622781, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 229.51385287380887, + -1343.7691214114277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 231.01385287380887, + -1341.1710452000743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 232.51385287380887, + -1338.572968988721, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-17-55_29860596/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-17-55_29860596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16d6f7d98db36d10fa4119dea58226bafe5adaf0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-17-55_29860596/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -156.35374481557557, + -1582.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -156.35374481557557, + -1579.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -156.35374481557557, + -1576.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -156.35374481557557, + -1573.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -156.35374481557557, + -1570.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -156.35374481557557, + -1567.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.35374481557557, + -1564.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -156.35374481557557, + -1561.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -156.35374481557557, + -1558.818211481085, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -156.35374481557557, + -1558.818211481085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -157.85374481557557, + -1556.2201352697316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.35374481557557, + -1553.6220590583782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -160.85374481557557, + -1551.0239828470249, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -162.35374481557557, + -1548.4259066356715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -163.85374481557557, + -1545.827830424318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -165.35374481557557, + -1543.2297542129647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -166.85374481557557, + -1540.6316780016114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -168.35374481557557, + -1538.033601790258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -169.85374481557557, + -1535.4355255789046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -171.35374481557557, + -1532.8374493675512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.85374481557557, + -1530.2393731561979, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -174.35374481557557, + -1527.6412969448445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -175.85374481557557, + -1525.0432207334911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.35374481557557, + -1522.4451445221378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -178.85374481557557, + -1519.8470683107844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -180.35374481557557, + -1517.248992099431, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -180.35374481557557, + -1517.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -182.95182102692888, + -1515.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -185.5498972382822, + -1514.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -188.14797344963551, + -1512.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -190.74604966098883, + -1511.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -193.34412587234215, + -1509.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -195.94220208369546, + -1508.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -198.54027829504878, + -1506.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -201.1383545064021, + -1505.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -203.7364307177554, + -1503.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -206.33450692910873, + -1502.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -208.93258314046204, + -1500.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -211.53065935181536, + -1499.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -214.12873556316868, + -1497.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -216.726811774522, + -1496.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -219.3248879858753, + -1494.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -221.92296419722862, + -1493.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -224.52104040858194, + -1491.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -227.11911661993526, + -1490.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -229.71719283128857, + -1488.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -232.3152690426419, + -1487.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -234.9133452539952, + -1485.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -237.51142146534852, + -1484.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -240.10949767670184, + -1482.748992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -242.70757388805515, + -1481.248992099431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -245.30565009940847, + -1479.748992099431, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-2-39_1767110751/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-2-39_1767110751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36e2a1cffecda6325d6d169e94e463e03387b49f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-2-39_1767110751/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -157.00062439502886, + -1563.915305424493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -157.00062439502886, + -1560.915305424493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -157.00062439502886, + -1557.915305424493, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -157.00062439502886, + -1557.915305424493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.50062439502886, + -1555.3172292131396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -160.00062439502886, + -1552.7191530017863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -161.50062439502886, + -1550.1210767904329, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -163.00062439502886, + -1547.5230005790795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -164.50062439502886, + -1544.9249243677261, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -166.00062439502886, + -1542.3268481563728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -167.50062439502886, + -1539.7287719450194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -169.00062439502886, + -1537.130695733666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.50062439502886, + -1534.5326195223126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -172.00062439502886, + -1531.9345433109593, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -173.50062439502886, + -1529.336467099606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -175.00062439502886, + -1526.7383908882525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.50062439502886, + -1524.1403146768992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -178.00062439502886, + -1521.5422384655458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.50062439502886, + -1518.9441622541924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -181.00062439502886, + -1516.346086042839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -182.50062439502886, + -1513.7480098314857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -184.00062439502886, + -1511.1499336201323, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -184.00062439502886, + -1511.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -186.59870060638218, + -1509.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -189.1967768177355, + -1508.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -191.7948530290888, + -1506.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.39292924044213, + -1505.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -196.99100545179544, + -1503.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -199.58908166314876, + -1502.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -202.18715787450208, + -1500.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -204.7852340858554, + -1499.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -207.3833102972087, + -1497.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -209.98138650856203, + -1496.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -212.57946271991534, + -1494.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -215.17753893126866, + -1493.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -217.77561514262197, + -1491.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -220.3736913539753, + -1490.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -222.9717675653286, + -1488.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -225.56984377668192, + -1487.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -228.16791998803524, + -1485.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -230.76599619938855, + -1484.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -233.36407241074187, + -1482.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -235.96214862209519, + -1481.1499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -238.5602248334485, + -1479.6499336201323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -241.15830104480182, + -1478.1499336201323, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-3-32_1821115873/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-3-32_1821115873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c465a4aa07a5fb5605abb204bf8bcae7d42ba7e6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-3-32_1821115873/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -111.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -114.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -117.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -120.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -123.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -126.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -129.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -132.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -135.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -138.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -144.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -147.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -150.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -153.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -156.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -159.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -162.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -165.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -168.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -171.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -174.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -177.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -180.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -183.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -186.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -189.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -192.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -195.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -195.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -195.76288004137012, + -1499.699036185312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -197.26288004137012, + -1497.1009599739587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -198.76288004137012, + -1494.5028837626053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -200.26288004137012, + -1491.904807551252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -201.76288004137012, + -1489.3067313398985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -203.26288004137012, + -1486.7086551285452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -204.76288004137012, + -1484.1105789171918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -206.26288004137012, + -1481.5125027058384, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -206.26288004137012, + -1481.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -208.86095625272344, + -1480.0125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -211.45903246407676, + -1478.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -214.05710867543007, + -1477.0125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -216.6551848867834, + -1475.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -219.2532610981367, + -1474.0125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -221.85133730949002, + -1472.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -224.44941352084334, + -1471.0125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -227.04748973219665, + -1469.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -229.64556594354997, + -1468.0125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -232.24364215490328, + -1466.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -234.8417183662566, + -1465.0125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -237.43979457760992, + -1463.5125027058384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -240.03787078896323, + -1462.0125027058384, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-59-5_5631942/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-59-5_5631942/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84aefc85e647be5290e3477d02611c1c5b5e3ba1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-59-5_5631942/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 285.30681658869844, + -1480.6069353671946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.80681658869844, + -1478.0088591558413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 282.30681658869844, + -1475.410782944488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 280.80681658869844, + -1472.8127067331345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.30681658869844, + -1470.2146305217811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 277.80681658869844, + -1467.6165543104278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 276.30681658869844, + -1465.0184780990744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.80681658869844, + -1462.420401887721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 273.30681658869844, + -1459.8223256763677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 271.80681658869844, + -1457.2242494650143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 270.30681658869844, + -1454.626173253661, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.80681658869844, + -1452.0280970423075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 267.30681658869844, + -1449.4300208309542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 265.80681658869844, + -1446.8319446196008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 264.30681658869844, + -1444.2338684082474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 262.80681658869844, + -1441.635792196894, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 262.80681658869844, + -1441.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 262.80681658869844, + -1438.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 262.80681658869844, + -1435.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 262.80681658869844, + -1432.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 262.80681658869844, + -1429.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 262.80681658869844, + -1426.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 262.80681658869844, + -1423.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 262.80681658869844, + -1420.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 262.80681658869844, + -1417.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 262.80681658869844, + -1414.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 262.80681658869844, + -1411.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 262.80681658869844, + -1408.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 262.80681658869844, + -1405.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 262.80681658869844, + -1402.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 262.80681658869844, + -1399.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 262.80681658869844, + -1396.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 262.80681658869844, + -1393.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 262.80681658869844, + -1390.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 262.80681658869844, + -1387.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 262.80681658869844, + -1384.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 262.80681658869844, + -1381.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 262.80681658869844, + -1378.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 262.80681658869844, + -1375.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 262.80681658869844, + -1372.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 262.80681658869844, + -1369.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 262.80681658869844, + -1366.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 262.80681658869844, + -1363.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 262.80681658869844, + -1360.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 262.80681658869844, + -1357.635792196894, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 262.80681658869844, + -1357.635792196894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 261.30681658869844, + -1355.0377159855407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 259.80681658869844, + -1352.4396397741873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 258.30681658869844, + -1349.841563562834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 256.80681658869844, + -1347.2434873514806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 255.30681658869844, + -1344.6454111401272, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 255.30681658869844, + -1344.6454111401272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 252.70874037734512, + -1343.1454111401272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 250.1106641659918, + -1341.6454111401272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 247.5125879546385, + -1340.1454111401272, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-9-35_1950148346/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-9-35_1950148346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88d992d0266f15f66b67ef66bce96e254b28838d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_10-9-35_1950148346/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.38669002793614, + -1353.2618381927605, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 411.88669002793614, + -1350.663761981407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 413.38669002793614, + -1348.0656857700537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.88669002793614, + -1345.4676095587004, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 416.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 416.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 416.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 422.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 425.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 428.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 431.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 434.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 437.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 440.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 440.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 440.38669002793614, + -1342.869533347347, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 441.88669002793614, + -1340.2714571359936, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 443.38669002793614, + -1337.6733809246402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.88669002793614, + -1335.0753047132869, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.38669002793614, + -1332.4772285019335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 447.88669002793614, + -1329.8791522905801, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 449.38669002793614, + -1327.2810760792268, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.88669002793614, + -1324.6829998678734, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 452.38669002793614, + -1322.08492365652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 453.88669002793614, + -1319.4868474451666, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 455.38669002793614, + -1316.8887712338133, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 456.88669002793614, + -1314.2906950224599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 458.38669002793614, + -1311.6926188111065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 459.88669002793614, + -1309.0945425997531, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 461.38669002793614, + -1306.4964663883998, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 462.88669002793614, + -1303.8983901770464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 464.38669002793614, + -1301.300313965693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 465.88669002793614, + -1298.7022377543396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 467.38669002793614, + -1296.1041615429863, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 468.88669002793614, + -1293.506085331633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 470.38669002793614, + -1290.9080091202795, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 471.88669002793614, + -1288.3099329089262, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 473.38669002793614, + -1285.7118566975728, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 474.88669002793614, + -1283.1137804862194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 476.38669002793614, + -1280.515704274866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 477.88669002793614, + -1277.9176280635127, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 479.38669002793614, + -1275.3195518521593, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 480.88669002793614, + -1272.721475640806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 482.38669002793614, + -1270.1233994294525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 483.88669002793614, + -1267.5253232180992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 485.38669002793614, + -1264.9272470067458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 486.88669002793614, + -1262.3291707953924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 488.38669002793614, + -1259.731094584039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 489.88669002793614, + -1257.1330183726857, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 489.88669002793614, + -1257.1330183726857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 492.48476623928946, + -1255.6330183726857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 495.0828424506428, + -1254.1330183726857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 497.6809186619961, + -1252.6330183726857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 500.2789948733494, + -1251.1330183726857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 502.8770710847027, + -1249.6330183726857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 505.47514729605604, + -1248.1330183726857, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-14-20_988506952/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-14-20_988506952/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b210b5b98d6aeaa994a99a521c8f437cc5ac9759 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-14-20_988506952/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 372.47778017180644, + -1462.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 369.8797039604531, + -1463.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 367.2816277490998, + -1465.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 364.6835515377465, + -1466.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 362.0854753263932, + -1468.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 359.48739911503986, + -1469.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 356.88932290368655, + -1471.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 354.29124669233323, + -1472.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 351.6931704809799, + -1474.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 349.0950942696266, + -1475.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 346.4970180582733, + -1477.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 343.89894184691997, + -1478.5529006250315, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 343.89894184691997, + -1478.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 340.89894184691997, + -1478.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 337.89894184691997, + -1478.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 334.89894184691997, + -1478.5529006250315, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 334.89894184691997, + -1478.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 332.30086563556665, + -1480.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 329.70278942421334, + -1481.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 327.10471321286, + -1483.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 324.5066370015067, + -1484.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 321.9085607901534, + -1486.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.3104845788001, + -1487.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 316.71240836744676, + -1489.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 314.11433215609344, + -1490.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.5162559447401, + -1492.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 308.9181797333868, + -1493.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 306.3201035220335, + -1495.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.7220273106802, + -1496.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 301.12395109932686, + -1498.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 298.52587488797354, + -1499.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 295.9277986766202, + -1501.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 293.3297224652669, + -1502.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.7316462539136, + -1504.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 288.1335700425603, + -1505.5529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 285.53549383120696, + -1507.0529006250315, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 285.53549383120696, + -1507.0529006250315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 284.03549383120696, + -1509.6509768363849, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 282.53549383120696, + -1512.2490530477382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 281.03549383120696, + -1514.8471292590916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 279.53549383120696, + -1517.445205470445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 278.03549383120696, + -1520.0432816817984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 276.53549383120696, + -1522.6413578931517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 275.03549383120696, + -1525.239434104505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 273.53549383120696, + -1527.8375103158585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 272.03549383120696, + -1530.4355865272119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 270.53549383120696, + -1533.0336627385652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 269.03549383120696, + -1535.6317389499186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 267.53549383120696, + -1538.229815161272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 266.03549383120696, + -1540.8278913726253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 264.53549383120696, + -1543.4259675839787, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-21-18_1483332973/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-21-18_1483332973/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f06509f741050010744d1f237c1eff84d6a25c4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-21-18_1483332973/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -651.6690304992272, + -2048.383948862197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -653.1690304992272, + -2045.7858726508437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -654.6690304992272, + -2043.1877964394903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -656.1690304992272, + -2040.589720228137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -657.6690304992272, + -2037.9916440167835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -659.1690304992272, + -2035.3935678054302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -660.6690304992272, + -2032.7954915940768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -662.1690304992272, + -2030.1974153827234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -663.6690304992272, + -2027.59933917137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.1690304992272, + -2025.0012629600167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -666.6690304992272, + -2022.4031867486633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -668.1690304992272, + -2019.80511053731, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.6690304992272, + -2017.2070343259566, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -671.1690304992272, + -2014.6089581146032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -672.6690304992272, + -2012.0108819032498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -674.1690304992272, + -2009.4128056918964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -675.6690304992272, + -2006.814729480543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -677.1690304992272, + -2004.2166532691897, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -678.6690304992272, + -2001.6185770578363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -680.1690304992272, + -1999.020500846483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -681.6690304992272, + -1996.4224246351296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -683.1690304992272, + -1993.8243484237762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -684.6690304992272, + -1991.2262722124228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -686.1690304992272, + -1988.6281960010695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.6690304992272, + -1986.030119789716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -689.1690304992272, + -1983.4320435783627, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -689.1690304992272, + -1983.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -689.1690304992272, + -1980.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -689.1690304992272, + -1977.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -689.1690304992272, + -1974.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -689.1690304992272, + -1971.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -689.1690304992272, + -1968.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -689.1690304992272, + -1965.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -689.1690304992272, + -1962.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -689.1690304992272, + -1959.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -689.1690304992272, + -1956.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -689.1690304992272, + -1953.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.1690304992272, + -1950.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -689.1690304992272, + -1947.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -689.1690304992272, + -1944.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -689.1690304992272, + -1941.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -689.1690304992272, + -1938.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -689.1690304992272, + -1935.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -689.1690304992272, + -1932.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -689.1690304992272, + -1929.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -689.1690304992272, + -1926.4320435783627, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -689.1690304992272, + -1926.4320435783627, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -689.1690304992272, + -1926.4320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -691.7671067105805, + -1924.9320435783627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -694.3651829219339, + -1923.4320435783627, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-22-41_964263748/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-22-41_964263748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1ce286025e54300217d2fd9723e725a94fb8194 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-22-41_964263748/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 107.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 110.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 113.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.0005664531943, + -1618.4843399590395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 114.5005664531943, + -1621.082416170393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 116.0005664531943, + -1623.6804923817463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 117.5005664531943, + -1626.2785685930996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 119.0005664531943, + -1628.876644804453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 120.5005664531943, + -1631.4747210158064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 122.0005664531943, + -1634.0727972271598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 123.5005664531943, + -1636.6708734385131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 125.0005664531943, + -1639.2689496498665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 126.5005664531943, + -1641.8670258612199, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 128.0005664531943, + -1644.4651020725732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 129.5005664531943, + -1647.0631782839266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 131.0005664531943, + -1649.66125449528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 132.5005664531943, + -1652.2593307066334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.0005664531943, + -1654.8574069179867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 135.5005664531943, + -1657.45548312934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 137.0005664531943, + -1660.0535593406935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 138.5005664531943, + -1662.6516355520469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 140.0005664531943, + -1665.2497117634002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 141.5005664531943, + -1667.8477879747536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 143.0005664531943, + -1670.445864186107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 144.5005664531943, + -1673.0439403974603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 146.0005664531943, + -1675.6420166088137, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 146.0005664531943, + -1675.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 146.0005664531943, + -1678.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 146.0005664531943, + -1681.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 146.0005664531943, + -1684.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 146.0005664531943, + -1687.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 146.0005664531943, + -1690.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 146.0005664531943, + -1693.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 146.0005664531943, + -1696.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 146.0005664531943, + -1699.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 146.0005664531943, + -1702.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 146.0005664531943, + -1705.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 146.0005664531943, + -1708.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 146.0005664531943, + -1711.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 146.0005664531943, + -1714.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 146.0005664531943, + -1717.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 146.0005664531943, + -1720.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 146.0005664531943, + -1723.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 146.0005664531943, + -1726.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 146.0005664531943, + -1729.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 146.0005664531943, + -1732.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 146.0005664531943, + -1735.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 146.0005664531943, + -1738.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 146.0005664531943, + -1741.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 146.0005664531943, + -1744.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 146.0005664531943, + -1747.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 146.0005664531943, + -1750.6420166088137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 146.0005664531943, + -1753.6420166088137, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-41-55_1530130017/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-41-55_1530130017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b21f80283e7d709969883eabbe624cf0ce311571 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-41-55_1530130017/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 10.5061329009839, + -1526.6629854468151, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 12.0061329009839, + -1529.2610616581685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 13.5061329009839, + -1531.8591378695219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 15.0061329009839, + -1534.4572140808752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 16.5061329009839, + -1537.0552902922286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 18.0061329009839, + -1539.653366503582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 19.5061329009839, + -1542.2514427149354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 21.0061329009839, + -1544.8495189262887, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 22.5061329009839, + -1547.447595137642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 24.0061329009839, + -1550.0456713489955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 25.5061329009839, + -1552.6437475603489, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 27.0061329009839, + -1555.2418237717022, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 28.5061329009839, + -1557.8398999830556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 30.0061329009839, + -1560.437976194409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 31.5061329009839, + -1563.0360524057623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 33.0061329009839, + -1565.6341286171157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.5061329009839, + -1568.232204828469, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 36.0061329009839, + -1570.8302810398225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 37.5061329009839, + -1573.4283572511758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 39.0061329009839, + -1576.0264334625292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 40.5061329009839, + -1578.6245096738826, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 40.5061329009839, + -1578.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 40.5061329009839, + -1581.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 40.5061329009839, + -1584.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 40.5061329009839, + -1587.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 40.5061329009839, + -1590.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 40.5061329009839, + -1593.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 40.5061329009839, + -1596.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 40.5061329009839, + -1599.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 40.5061329009839, + -1602.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 40.5061329009839, + -1605.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 40.5061329009839, + -1608.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 40.5061329009839, + -1611.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 40.5061329009839, + -1614.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 40.5061329009839, + -1617.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.5061329009839, + -1620.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 40.5061329009839, + -1623.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 40.5061329009839, + -1626.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 40.5061329009839, + -1629.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 40.5061329009839, + -1632.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.5061329009839, + -1635.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.5061329009839, + -1638.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 40.5061329009839, + -1641.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 40.5061329009839, + -1644.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 40.5061329009839, + -1647.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 40.5061329009839, + -1650.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 40.5061329009839, + -1653.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 40.5061329009839, + -1656.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 40.5061329009839, + -1659.6245096738826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 40.5061329009839, + -1659.6245096738826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 40.5061329009839, + -1659.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 43.104209112337216, + -1661.1245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 45.70228532369053, + -1662.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 48.30036153504385, + -1664.1245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 50.898437746397164, + -1665.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 53.49651395775048, + -1667.1245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 56.094590169103796, + -1668.6245096738826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 58.69266638045711, + -1670.1245096738826, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-46-2_136135018/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-46-2_136135018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb86a43058ddcb87de2f3ab0e6d61238e99e7cc0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-46-2_136135018/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -771.4227858716444, + -2047.1592012216533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -769.9227858716444, + -2044.5611250103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -768.4227858716444, + -2041.9630487989466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -766.9227858716444, + -2039.3649725875932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -765.4227858716444, + -2036.7668963762399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -763.9227858716444, + -2034.1688201648865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -762.4227858716444, + -2031.570743953533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -760.9227858716444, + -2028.9726677421797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -759.4227858716444, + -2026.3745915308264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -757.9227858716444, + -2023.776515319473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -756.4227858716444, + -2021.1784391081196, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -754.9227858716444, + -2018.5803628967662, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -753.4227858716444, + -2015.9822866854129, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -751.9227858716444, + -2013.3842104740595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -750.4227858716444, + -2010.7861342627061, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.9227858716444, + -2008.1880580513528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -747.4227858716444, + -2005.5899818399994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.9227858716444, + -2002.991905628646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -744.4227858716444, + -2000.3938294172926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -742.9227858716444, + -1997.7957532059393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -741.4227858716444, + -1995.197676994586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -739.9227858716444, + -1992.5996007832325, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -739.9227858716444, + -1992.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -737.3247096602911, + -1991.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -734.7266334489377, + -1989.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -732.1285572375843, + -1988.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -729.530481026231, + -1986.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -726.9324048148776, + -1985.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -724.3343286035242, + -1983.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -721.7362523921709, + -1982.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -719.1381761808175, + -1980.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -716.5400999694641, + -1979.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -713.9420237581107, + -1977.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -711.3439475467574, + -1976.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -708.745871335404, + -1974.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -706.1477951240506, + -1973.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -703.5497189126972, + -1971.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -700.9516427013439, + -1970.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -698.3535664899905, + -1968.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -695.7554902786371, + -1967.0996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -693.1574140672838, + -1965.5996007832325, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -693.1574140672838, + -1965.5996007832325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -691.6574140672838, + -1963.0015245718791, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -690.1574140672838, + -1960.4034483605258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -688.6574140672838, + -1957.8053721491724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -687.1574140672838, + -1955.207295937819, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -685.6574140672838, + -1952.6092197264657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -684.1574140672838, + -1950.0111435151123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -682.6574140672838, + -1947.413067303759, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -681.1574140672838, + -1944.8149910924055, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-50-49_1459834400/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-50-49_1459834400/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2b2153a1b3da052382da93190e8c0514362fcc30 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-50-49_1459834400/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 192.19673189148057, + -1468.0140294473995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.69673189148057, + -1465.415953236046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 195.19673189148057, + -1462.8178770246927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 196.69673189148057, + -1460.2198008133394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 198.19673189148057, + -1457.621724601986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.69673189148057, + -1455.0236483906326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 201.19673189148057, + -1452.4255721792792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 202.69673189148057, + -1449.8274959679259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 204.19673189148057, + -1447.2294197565725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 205.69673189148057, + -1444.6313435452191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 207.19673189148057, + -1442.0332673338658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 208.69673189148057, + -1439.4351911225124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 210.19673189148057, + -1436.837114911159, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 211.69673189148057, + -1434.2390386998056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 213.19673189148057, + -1431.6409624884523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 214.69673189148057, + -1429.042886277099, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 216.19673189148057, + -1426.4448100657455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 217.69673189148057, + -1423.8467338543921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 219.19673189148057, + -1421.2486576430388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 220.69673189148057, + -1418.6505814316854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.19673189148057, + -1416.052505220332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 223.69673189148057, + -1413.4544290089787, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 223.69673189148057, + -1413.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 223.69673189148057, + -1410.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 223.69673189148057, + -1407.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.69673189148057, + -1404.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.69673189148057, + -1401.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 223.69673189148057, + -1398.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.69673189148057, + -1395.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.69673189148057, + -1392.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 223.69673189148057, + -1389.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 223.69673189148057, + -1386.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 223.69673189148057, + -1383.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 223.69673189148057, + -1380.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 223.69673189148057, + -1377.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 223.69673189148057, + -1374.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 223.69673189148057, + -1371.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 223.69673189148057, + -1368.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 223.69673189148057, + -1365.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.69673189148057, + -1362.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 223.69673189148057, + -1359.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.69673189148057, + -1356.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 223.69673189148057, + -1353.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 223.69673189148057, + -1350.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 223.69673189148057, + -1347.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 223.69673189148057, + -1344.4544290089787, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 223.69673189148057, + -1344.4544290089787, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 223.69673189148057, + -1344.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 226.29480810283388, + -1342.9544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 228.8928843141872, + -1341.4544290089787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 231.49096052554052, + -1339.9544290089787, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-53-36_1681545190/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-53-36_1681545190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa344efecdf6d7c7f08d960d5c459c8761f1ec56 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-53-36_1681545190/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 255.37111141095636, + -1475.8141462287297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 256.87111141095636, + -1473.2160700173763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 258.37111141095636, + -1470.617993806023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 259.87111141095636, + -1468.0199175946696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 261.37111141095636, + -1465.4218413833162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 262.87111141095636, + -1462.8237651719628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 264.37111141095636, + -1460.2256889606094, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 264.37111141095636, + -1460.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 264.37111141095636, + -1457.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 264.37111141095636, + -1454.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 264.37111141095636, + -1451.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 264.37111141095636, + -1448.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 264.37111141095636, + -1445.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 264.37111141095636, + -1442.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 264.37111141095636, + -1439.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 264.37111141095636, + -1436.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 264.37111141095636, + -1433.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 264.37111141095636, + -1430.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 264.37111141095636, + -1427.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 264.37111141095636, + -1424.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 264.37111141095636, + -1421.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 264.37111141095636, + -1418.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 264.37111141095636, + -1415.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 264.37111141095636, + -1412.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.37111141095636, + -1409.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 264.37111141095636, + -1406.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 264.37111141095636, + -1403.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 264.37111141095636, + -1400.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 264.37111141095636, + -1397.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 264.37111141095636, + -1394.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 264.37111141095636, + -1391.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 264.37111141095636, + -1388.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 264.37111141095636, + -1385.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 264.37111141095636, + -1382.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 264.37111141095636, + -1379.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 264.37111141095636, + -1376.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 264.37111141095636, + -1373.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 264.37111141095636, + -1370.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 264.37111141095636, + -1367.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 264.37111141095636, + -1364.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 264.37111141095636, + -1361.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 264.37111141095636, + -1358.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 264.37111141095636, + -1355.2256889606094, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 264.37111141095636, + -1355.2256889606094, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 264.37111141095636, + -1355.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 261.77303519960304, + -1353.7256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 259.1749589882497, + -1352.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 256.5768827768964, + -1350.7256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 253.9788065655431, + -1349.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 251.38073035418978, + -1347.7256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 248.78265414283646, + -1346.2256889606094, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 248.78265414283646, + -1346.2256889606094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 247.28265414283646, + -1343.627612749256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 245.78265414283646, + -1341.0295365379027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 244.28265414283646, + -1338.4314603265493, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-8-19_1628414422/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-8-19_1628414422/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bafeaa7a27e893c01950c7ee42755c74b2a06f45 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_11-8-19_1628414422/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 389.99624003222254, + -1361.9179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 387.39816382086923, + -1363.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 384.8000876095159, + -1364.9179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.2020113981626, + -1366.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 379.6039351868093, + -1367.9179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.00585897545596, + -1369.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 374.40778276410265, + -1370.9179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 371.80970655274933, + -1372.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 369.211630341396, + -1373.9179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 366.6135541300427, + -1375.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 364.0154779186894, + -1376.9179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 361.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 361.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 358.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 355.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 349.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 340.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 337.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 334.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 331.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 325.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 322.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 319.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 316.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 313.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 310.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 310.41740170733607, + -1378.4179536298864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 308.91740170733607, + -1375.819877418533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 307.41740170733607, + -1373.2218012071796, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 305.91740170733607, + -1370.6237249958263, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 304.41740170733607, + -1368.0256487844729, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.91740170733607, + -1365.4275725731195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 301.41740170733607, + -1362.8294963617661, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 299.91740170733607, + -1360.2314201504128, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 298.41740170733607, + -1357.6333439390594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 296.91740170733607, + -1355.035267727706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 295.41740170733607, + -1352.4371915163526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 293.91740170733607, + -1349.8391153049993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 292.41740170733607, + -1347.241039093646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 290.91740170733607, + -1344.6429628822925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 289.41740170733607, + -1342.0448866709391, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 287.91740170733607, + -1339.4468104595858, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 286.41740170733607, + -1336.8487342482324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 284.91740170733607, + -1334.250658036879, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 284.91740170733607, + -1334.250658036879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 282.31932549598275, + -1332.750658036879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 279.72124928462944, + -1331.250658036879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 277.1231730732761, + -1329.750658036879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 274.5250968619228, + -1328.250658036879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 271.9270206505695, + -1326.750658036879, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-10-32_1217038602/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-10-32_1217038602/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2a8e25f5e59a4d57ff68b81b0f36322a9fb8615 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-10-32_1217038602/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -67.13334058021022, + -1429.8863815469797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -68.63334058021022, + -1432.484457758333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -70.13334058021022, + -1435.0825339696864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -71.63334058021022, + -1437.6806101810398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -73.13334058021022, + -1440.2786863923932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -74.63334058021022, + -1442.8767626037466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.13334058021022, + -1445.4748388151, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -77.63334058021022, + -1448.0729150264533, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -79.13334058021022, + -1450.6709912378067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -80.63334058021022, + -1453.26906744916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -82.13334058021022, + -1455.8671436605134, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -83.63334058021022, + -1458.4652198718668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.13334058021022, + -1461.0632960832202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -86.63334058021022, + -1463.6613722945735, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -88.13334058021022, + -1466.259448505927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -89.63334058021022, + -1468.8575247172803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -91.13334058021022, + -1471.4556009286337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -92.63334058021022, + -1474.053677139987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -94.13334058021022, + -1476.6517533513404, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -95.63334058021022, + -1479.2498295626938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.13334058021022, + -1481.8479057740471, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -98.63334058021022, + -1484.4459819854005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -100.13334058021022, + -1487.044058196754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.63334058021022, + -1489.6421344081073, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.63334058021022, + -1489.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.63334058021022, + -1492.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.63334058021022, + -1495.6421344081073, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.63334058021022, + -1495.6421344081073, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -101.63334058021022, + -1495.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -104.23141679156353, + -1497.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -106.82949300291685, + -1498.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -109.42756921427016, + -1500.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -112.02564542562348, + -1501.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -114.6237216369768, + -1503.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -117.22179784833011, + -1504.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -119.81987405968343, + -1506.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -122.41795027103674, + -1507.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -125.01602648239006, + -1509.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -127.61410269374338, + -1510.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -130.2121789050967, + -1512.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -132.81025511645, + -1513.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -135.40833132780332, + -1515.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -138.00640753915664, + -1516.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -140.60448375050996, + -1518.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -143.20255996186327, + -1519.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -145.8006361732166, + -1521.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -148.3987123845699, + -1522.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -150.99678859592322, + -1524.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -153.59486480727654, + -1525.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -156.19294101862985, + -1527.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -158.79101722998317, + -1528.6421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -161.38909344133648, + -1530.1421344081073, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.38909344133648, + -1530.1421344081073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -162.88909344133648, + -1532.7402106194606, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -164.38909344133648, + -1535.338286830814, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-15-14_20336956/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-15-14_20336956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a45b0193568c6ab892f4c521468c58af407a07f4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-15-14_20336956/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -960.4233452568088, + -2778.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -960.4233452568088, + -2781.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -960.4233452568088, + -2784.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -960.4233452568088, + -2787.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -960.4233452568088, + -2790.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -960.4233452568088, + -2793.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -960.4233452568088, + -2796.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -960.4233452568088, + -2799.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -960.4233452568088, + -2802.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -960.4233452568088, + -2805.1918773014054, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -960.4233452568088, + -2805.1918773014054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -958.9233452568088, + -2807.7899535127585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -957.4233452568088, + -2810.3880297241117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -955.9233452568088, + -2812.986105935465, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -954.4233452568088, + -2815.584182146818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -952.9233452568088, + -2818.182258358171, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -951.4233452568088, + -2820.7803345695243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -949.9233452568088, + -2823.3784107808774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -948.4233452568088, + -2825.9764869922305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -946.9233452568088, + -2828.5745632035837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -945.4233452568088, + -2831.172639414937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -943.9233452568088, + -2833.77071562629, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -942.4233452568088, + -2836.368791837643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -940.9233452568088, + -2838.9668680489963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -939.4233452568088, + -2841.5649442603494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -937.9233452568088, + -2844.1630204717026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -936.4233452568088, + -2846.7610966830557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -934.9233452568088, + -2849.359172894409, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -934.9233452568088, + -2849.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -934.9233452568088, + -2852.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -934.9233452568088, + -2855.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -934.9233452568088, + -2858.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -934.9233452568088, + -2861.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -934.9233452568088, + -2864.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -934.9233452568088, + -2867.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -934.9233452568088, + -2870.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -934.9233452568088, + -2873.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -934.9233452568088, + -2876.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -934.9233452568088, + -2879.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -934.9233452568088, + -2882.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -934.9233452568088, + -2885.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -934.9233452568088, + -2888.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -934.9233452568088, + -2891.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -934.9233452568088, + -2894.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -934.9233452568088, + -2897.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -934.9233452568088, + -2900.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -934.9233452568088, + -2903.359172894409, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -934.9233452568088, + -2903.359172894409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -936.4233452568088, + -2905.957249105762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -937.9233452568088, + -2908.555325317115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -939.4233452568088, + -2911.1534015284683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -940.9233452568088, + -2913.7514777398214, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -942.4233452568088, + -2916.3495539511746, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-22-21_1680687005/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-22-21_1680687005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90abe52371452c2a1c04ca8a61226f547336b514 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-22-21_1680687005/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -82.19113423084804, + -1416.8881137063483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -83.69113423084804, + -1419.4861899177017, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.19113423084804, + -1422.084266129055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -86.69113423084804, + -1424.6823423404085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -88.19113423084804, + -1427.2804185517618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -89.69113423084804, + -1429.8784947631152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.19113423084804, + -1432.4765709744686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -92.69113423084804, + -1435.074647185822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -94.19113423084804, + -1437.6727233971753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.69113423084804, + -1440.2707996085287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -97.19113423084804, + -1442.868875819882, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -97.19113423084804, + -1442.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -99.78921044220135, + -1444.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -102.38728665355467, + -1445.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -104.98536286490798, + -1447.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -107.5834390762613, + -1448.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -110.18151528761462, + -1450.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -112.77959149896793, + -1451.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -115.37766771032125, + -1453.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -117.97574392167456, + -1454.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -120.57382013302788, + -1456.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -123.1718963443812, + -1457.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -125.76997255573451, + -1459.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -128.36804876708783, + -1460.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -130.96612497844114, + -1462.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -133.56420118979446, + -1463.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -136.16227740114778, + -1465.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -138.7603536125011, + -1466.868875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -141.3584298238544, + -1468.368875819882, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -141.3584298238544, + -1468.368875819882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -142.8584298238544, + -1470.9669520312355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -144.3584298238544, + -1473.5650282425888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -145.8584298238544, + -1476.1631044539422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -147.3584298238544, + -1478.7611806652956, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -148.8584298238544, + -1481.359256876649, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -150.3584298238544, + -1483.9573330880023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -151.8584298238544, + -1486.5554092993557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -153.3584298238544, + -1489.153485510709, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -154.8584298238544, + -1491.7515617220624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -156.3584298238544, + -1494.3496379334158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -157.8584298238544, + -1496.9477141447692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -159.3584298238544, + -1499.5457903561226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.8584298238544, + -1502.143866567476, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.3584298238544, + -1504.7419427788293, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -162.3584298238544, + -1504.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.3584298238544, + -1507.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -162.3584298238544, + -1510.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -162.3584298238544, + -1513.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -162.3584298238544, + -1516.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -162.3584298238544, + -1519.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -162.3584298238544, + -1522.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -162.3584298238544, + -1525.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -162.3584298238544, + -1528.7419427788293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -162.3584298238544, + -1531.7419427788293, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-28-21_138700754/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-28-21_138700754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29643a6699a47105146941da5401edc0e9f94955 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-28-21_138700754/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -676.957699700863, + -1775.6526195960314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -679.5557759122164, + -1777.1526195960314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.1538521235698, + -1778.6526195960314, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -682.1538521235698, + -1778.6526195960314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -683.6538521235698, + -1781.2506958073848, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -685.1538521235698, + -1783.8487720187381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -686.6538521235698, + -1786.4468482300915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -688.1538521235698, + -1789.044924441445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -689.6538521235698, + -1791.6430006527983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -691.1538521235698, + -1794.2410768641516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -692.6538521235698, + -1796.839153075505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -694.1538521235698, + -1799.4372292868584, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.1538521235698, + -1799.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -694.1538521235698, + -1802.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.1538521235698, + -1805.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -694.1538521235698, + -1808.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -694.1538521235698, + -1811.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.1538521235698, + -1814.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -694.1538521235698, + -1817.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -694.1538521235698, + -1820.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -694.1538521235698, + -1823.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -694.1538521235698, + -1826.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -694.1538521235698, + -1829.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.1538521235698, + -1832.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.1538521235698, + -1835.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.1538521235698, + -1838.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -694.1538521235698, + -1841.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.1538521235698, + -1844.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -694.1538521235698, + -1847.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -694.1538521235698, + -1850.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.1538521235698, + -1853.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -694.1538521235698, + -1856.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -694.1538521235698, + -1859.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -694.1538521235698, + -1862.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -694.1538521235698, + -1865.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -694.1538521235698, + -1868.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -694.1538521235698, + -1871.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -694.1538521235698, + -1874.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -694.1538521235698, + -1877.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -694.1538521235698, + -1880.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -694.1538521235698, + -1883.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -694.1538521235698, + -1886.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -694.1538521235698, + -1889.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -694.1538521235698, + -1892.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -694.1538521235698, + -1895.4372292868584, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -694.1538521235698, + -1895.4372292868584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.6538521235698, + -1898.0353054982118, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -697.1538521235698, + -1900.6333817095651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.6538521235698, + -1903.2314579209185, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -700.1538521235698, + -1905.8295341322719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -701.6538521235698, + -1908.4276103436252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -703.1538521235698, + -1911.0256865549786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -704.6538521235698, + -1913.623762766332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -706.1538521235698, + -1916.2218389776854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -707.6538521235698, + -1918.8199151890387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -709.1538521235698, + -1921.417991400392, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-29-19_2134113236/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-29-19_2134113236/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41976fd0d046feccf9286fc92fc321155a7bbb47 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_12-29-19_2134113236/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -52.58470274024198, + -1455.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.182778951595296, + -1457.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.78085516294861, + -1458.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -60.37893137430193, + -1460.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -62.977007585655244, + -1461.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.57508379700856, + -1463.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.17316000836188, + -1464.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.77123621971519, + -1466.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -73.36931243106851, + -1467.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -75.96738864242182, + -1469.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -78.56546485377514, + -1470.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -81.16354106512846, + -1472.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.76161727648177, + -1473.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -86.35969348783509, + -1475.3343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -88.9577696991884, + -1476.8343302429425, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -88.9577696991884, + -1476.8343302429425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -90.4577696991884, + -1479.432406454296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -91.9577696991884, + -1482.0304826656493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -93.4577696991884, + -1484.6285588770027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -94.9577696991884, + -1487.226635088356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -96.4577696991884, + -1489.8247112997094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -97.9577696991884, + -1492.4227875110628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -99.4577696991884, + -1495.0208637224162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -100.9577696991884, + -1497.6189399337695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -102.4577696991884, + -1500.217016145123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -103.9577696991884, + -1502.8150923564763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -105.4577696991884, + -1505.4131685678296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -106.9577696991884, + -1508.011244779183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -108.4577696991884, + -1510.6093209905364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -109.9577696991884, + -1513.2073972018898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -111.4577696991884, + -1515.8054734132431, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -111.4577696991884, + -1515.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -114.05584591054172, + -1517.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -116.65392212189504, + -1518.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -119.25199833324835, + -1520.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -121.85007454460167, + -1521.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -124.44815075595498, + -1523.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -127.0462269673083, + -1524.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -129.64430317866163, + -1526.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -132.24237939001495, + -1527.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -134.84045560136826, + -1529.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -137.43853181272158, + -1530.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -140.0366080240749, + -1532.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -142.6346842354282, + -1533.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -145.23276044678153, + -1535.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -147.83083665813484, + -1536.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -150.42891286948816, + -1538.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -153.02698908084147, + -1539.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -155.6250652921948, + -1541.3054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -158.2231415035481, + -1542.8054734132431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -160.82121771490142, + -1544.3054734132431, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-15-33_1388803074/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-15-33_1388803074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33d0de41ebc9a259006c40691bf5a46012a33c6f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-15-33_1388803074/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 422.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 425.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 428.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 431.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 437.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 437.14452310339965, + -1343.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 439.74259931475297, + -1342.4236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 442.3406755261063, + -1340.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 444.9387517374596, + -1339.4236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 447.5368279488129, + -1337.9236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 450.13490416016623, + -1336.4236418610462, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 450.13490416016623, + -1336.4236418610462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 451.63490416016623, + -1333.8255656496929, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 453.13490416016623, + -1331.2274894383395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 454.63490416016623, + -1328.6294132269861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 456.13490416016623, + -1326.0313370156327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 457.63490416016623, + -1323.4332608042794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 459.13490416016623, + -1320.835184592926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 460.63490416016623, + -1318.2371083815726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 462.13490416016623, + -1315.6390321702193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 463.63490416016623, + -1313.0409559588659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 465.13490416016623, + -1310.4428797475125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 466.63490416016623, + -1307.8448035361591, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 468.13490416016623, + -1305.2467273248058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 469.63490416016623, + -1302.6486511134524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.13490416016623, + -1300.050574902099, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 472.63490416016623, + -1297.4524986907456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 474.13490416016623, + -1294.8544224793923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 475.63490416016623, + -1292.256346268039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 477.13490416016623, + -1289.6582700566855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 478.63490416016623, + -1287.0601938453322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 480.13490416016623, + -1284.4621176339788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 481.63490416016623, + -1281.8640414226254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 483.13490416016623, + -1279.265965211272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 484.63490416016623, + -1276.6678889999187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 486.13490416016623, + -1274.0698127885653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 487.63490416016623, + -1271.471736577212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 489.13490416016623, + -1268.8736603658585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 490.63490416016623, + -1266.2755841545052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 492.13490416016623, + -1263.6775079431518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 493.63490416016623, + -1261.0794317317984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 495.13490416016623, + -1258.481355520445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 496.63490416016623, + -1255.8832793090917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 498.13490416016623, + -1253.2852030977383, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 498.13490416016623, + -1253.2852030977383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 500.73298037151955, + -1251.7852030977383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 503.33105658287286, + -1250.2852030977383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 505.9291327942262, + -1248.7852030977383, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-21-2_1738110294/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-21-2_1738110294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f39d47345694e450e4f71525a026e6ae883ba80e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-21-2_1738110294/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -645.0864689182447, + -2054.0790477509972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -646.5864689182447, + -2051.480971539644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -648.0864689182447, + -2048.882895328291, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -649.5864689182447, + -2046.2848191169376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -651.0864689182447, + -2043.6867429055842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -652.5864689182447, + -2041.0886666942308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -654.0864689182447, + -2038.4905904828775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -655.5864689182447, + -2035.892514271524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -657.0864689182447, + -2033.2944380601707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.5864689182447, + -2030.6963618488173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -660.0864689182447, + -2028.098285637464, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -661.5864689182447, + -2025.5002094261106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -663.0864689182447, + -2022.9021332147572, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -664.5864689182447, + -2020.3040570034038, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -666.0864689182447, + -2017.7059807920505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -667.5864689182447, + -2015.107904580697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.0864689182447, + -2012.5098283693437, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -670.5864689182447, + -2009.9117521579903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.0864689182447, + -2007.313675946637, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -673.5864689182447, + -2004.7155997352836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.0864689182447, + -2002.1175235239302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -676.5864689182447, + -1999.5194473125769, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -678.0864689182447, + -1996.9213711012235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.5864689182447, + -1994.32329488987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -681.0864689182447, + -1991.7252186785167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -682.5864689182447, + -1989.1271424671634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -684.0864689182447, + -1986.52906625581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.5864689182447, + -1983.9309900444566, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.0864689182447, + -1981.3329138331032, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.0864689182447, + -1981.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.0864689182447, + -1978.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.0864689182447, + -1975.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.0864689182447, + -1972.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.0864689182447, + -1969.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.0864689182447, + -1966.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.0864689182447, + -1963.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.0864689182447, + -1960.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.0864689182447, + -1957.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.0864689182447, + -1954.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.0864689182447, + -1951.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.0864689182447, + -1948.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.0864689182447, + -1945.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.0864689182447, + -1942.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.0864689182447, + -1939.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -687.0864689182447, + -1936.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -687.0864689182447, + -1933.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -687.0864689182447, + -1930.3329138331032, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -687.0864689182447, + -1930.3329138331032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -688.5864689182447, + -1927.7348376217499, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -690.0864689182447, + -1925.1367614103965, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -690.0864689182447, + -1925.1367614103965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -692.6845451295981, + -1923.6367614103965, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-3-53_1319041805/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-3-53_1319041805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12825fcf749239c5ffa5218e1032ad5450268323 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-3-53_1319041805/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 7.675980845499396, + -1537.479478077807, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 9.175980845499396, + -1540.0775542891604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 10.675980845499396, + -1542.6756305005138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 12.175980845499396, + -1545.2737067118671, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 13.675980845499396, + -1547.8717829232205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 15.175980845499396, + -1550.4698591345739, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 16.675980845499396, + -1553.0679353459273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 18.175980845499396, + -1555.6660115572806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 19.675980845499396, + -1558.264087768634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.175980845499396, + -1560.8621639799874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 22.675980845499396, + -1563.4602401913407, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 24.175980845499396, + -1566.0583164026941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 25.675980845499396, + -1568.6563926140475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 27.175980845499396, + -1571.2544688254009, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.675980845499396, + -1573.8525450367542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 30.175980845499396, + -1576.4506212481076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 31.675980845499396, + -1579.048697459461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 33.175980845499396, + -1581.6467736708144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 34.675980845499396, + -1584.2448498821677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 36.175980845499396, + -1586.842926093521, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 37.675980845499396, + -1589.4410023048745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 39.175980845499396, + -1592.0390785162278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 40.675980845499396, + -1594.6371547275812, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 40.675980845499396, + -1594.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 40.675980845499396, + -1597.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 40.675980845499396, + -1600.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 40.675980845499396, + -1603.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 40.675980845499396, + -1606.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 40.675980845499396, + -1609.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 40.675980845499396, + -1612.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 40.675980845499396, + -1615.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 40.675980845499396, + -1618.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 40.675980845499396, + -1621.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 40.675980845499396, + -1624.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 40.675980845499396, + -1627.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.675980845499396, + -1630.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 40.675980845499396, + -1633.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 40.675980845499396, + -1636.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 40.675980845499396, + -1639.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 40.675980845499396, + -1642.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 40.675980845499396, + -1645.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.675980845499396, + -1648.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 40.675980845499396, + -1651.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 40.675980845499396, + -1654.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 40.675980845499396, + -1657.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 40.675980845499396, + -1660.6371547275812, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 40.675980845499396, + -1660.6371547275812, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 40.675980845499396, + -1660.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 43.27405705685271, + -1662.1371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 45.87213326820603, + -1663.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 48.470209479559344, + -1665.1371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 51.06828569091266, + -1666.6371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 53.666361902265976, + -1668.1371547275812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 56.26443811361929, + -1669.6371547275812, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-33-35_483689685/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-33-35_483689685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6331cd0889ab86b43f16f92970cba558b52b0bf0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_2-33-35_483689685/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 225.58866172446182, + -1491.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 225.58866172446182, + -1488.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 225.58866172446182, + -1485.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 225.58866172446182, + -1482.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.58866172446182, + -1479.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 225.58866172446182, + -1476.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 225.58866172446182, + -1473.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.58866172446182, + -1470.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 225.58866172446182, + -1467.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 225.58866172446182, + -1464.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 225.58866172446182, + -1461.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 225.58866172446182, + -1458.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.58866172446182, + -1455.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 225.58866172446182, + -1452.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 225.58866172446182, + -1449.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 225.58866172446182, + -1446.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 225.58866172446182, + -1443.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 225.58866172446182, + -1440.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 225.58866172446182, + -1437.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 225.58866172446182, + -1434.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 225.58866172446182, + -1431.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 225.58866172446182, + -1428.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 225.58866172446182, + -1425.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 225.58866172446182, + -1422.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 225.58866172446182, + -1419.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 225.58866172446182, + -1416.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 225.58866172446182, + -1413.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 225.58866172446182, + -1410.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 225.58866172446182, + -1407.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 225.58866172446182, + -1404.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 225.58866172446182, + -1401.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 225.58866172446182, + -1398.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 225.58866172446182, + -1395.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 225.58866172446182, + -1392.8933852598834, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 225.58866172446182, + -1392.8933852598834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 224.08866172446182, + -1390.29530904853, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 224.08866172446182, + -1390.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 224.08866172446182, + -1387.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 224.08866172446182, + -1384.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 224.08866172446182, + -1381.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 224.08866172446182, + -1378.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 224.08866172446182, + -1375.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 224.08866172446182, + -1372.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 224.08866172446182, + -1369.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 224.08866172446182, + -1366.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 224.08866172446182, + -1363.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 224.08866172446182, + -1360.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 224.08866172446182, + -1357.29530904853, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 224.08866172446182, + -1357.29530904853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 225.58866172446182, + -1354.6972328371767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 227.08866172446182, + -1352.0991566258233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 228.58866172446182, + -1349.50108041447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 230.08866172446182, + -1346.9030042031166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 231.58866172446182, + -1344.3049279917632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 233.08866172446182, + -1341.7068517804098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 234.58866172446182, + -1339.1087755690564, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 236.08866172446182, + -1336.510699357703, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-0-10_1982945082/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-0-10_1982945082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..531ca2f62a6af7f2652a1e6ce53ebfa7b8b04939 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-0-10_1982945082/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -92.829796535172, + -1493.127165235621, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.329796535172, + -1490.5290890242677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -95.829796535172, + -1487.9310128129143, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.329796535172, + -1485.332936601561, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.829796535172, + -1482.7348603902076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -100.329796535172, + -1480.1367841788542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.829796535172, + -1477.5387079675008, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -101.829796535172, + -1477.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -101.829796535172, + -1474.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -101.829796535172, + -1471.5387079675008, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -101.829796535172, + -1471.5387079675008, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -101.829796535172, + -1471.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -104.42787274652531, + -1470.0387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.02594895787863, + -1468.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -109.62402516923194, + -1467.0387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -112.22210138058526, + -1465.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.82017759193857, + -1464.0387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -117.41825380329189, + -1462.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.0163300146452, + -1461.0387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -122.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -122.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -137.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -140.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -143.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -146.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -149.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -152.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -155.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -158.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -161.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -164.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -167.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -170.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -173.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -176.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -179.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -182.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -185.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -188.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -191.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -194.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -197.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -200.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -203.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -206.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -209.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -212.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -215.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -218.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -221.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -224.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -227.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -230.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -233.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -236.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -239.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -242.61440622599852, + -1459.5387079675008, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-11-51_513937457/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-11-51_513937457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a0a3e799fb3b44c74c422fa993371766abf7893 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-11-51_513937457/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 188.53976685727523, + -1575.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 185.9416906459219, + -1577.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 183.3436144345686, + -1578.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 180.74553822321528, + -1580.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 178.14746201186196, + -1581.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 175.54938580050865, + -1583.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 172.95130958915533, + -1584.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 170.353233377802, + -1586.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 167.7551571664487, + -1587.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 165.15708095509538, + -1589.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 162.55900474374207, + -1590.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 159.96092853238875, + -1592.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.36285232103543, + -1593.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 154.76477610968212, + -1595.4411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 152.1666998983288, + -1596.9411553841337, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 152.1666998983288, + -1596.9411553841337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 150.6666998983288, + -1599.539231595487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 149.1666998983288, + -1602.1373078068405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 147.6666998983288, + -1604.7353840181938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 146.1666998983288, + -1607.3334602295472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 144.6666998983288, + -1609.9315364409006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 143.1666998983288, + -1612.529612652254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 141.6666998983288, + -1615.1276888636073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 140.1666998983288, + -1617.7257650749607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 138.6666998983288, + -1620.323841286314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 137.1666998983288, + -1622.9219174976674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 135.6666998983288, + -1625.5199937090208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 134.1666998983288, + -1628.1180699203742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 132.6666998983288, + -1630.7161461317276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 131.1666998983288, + -1633.314222343081, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 129.6666998983288, + -1635.9122985544343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 128.1666998983288, + -1638.5103747657877, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 126.6666998983288, + -1641.108450977141, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 125.1666998983288, + -1643.7065271884944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 123.6666998983288, + -1646.3046033998478, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 122.1666998983288, + -1648.9026796112012, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 120.6666998983288, + -1651.5007558225545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 119.1666998983288, + -1654.098832033908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 117.6666998983288, + -1656.6969082452613, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 116.1666998983288, + -1659.2949844566147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 114.6666998983288, + -1661.893060667968, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 114.6666998983288, + -1661.893060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 112.06862368697549, + -1663.393060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 109.47054747562217, + -1664.893060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 106.87247126426885, + -1666.393060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 104.27439505291554, + -1667.893060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 101.67631884156222, + -1669.393060667968, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 101.67631884156222, + -1669.393060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 98.67631884156222, + -1669.393060667968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 95.67631884156222, + -1669.393060667968, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-16-48_1815209933/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-16-48_1815209933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f9d9865c488029e599aedeace47bc7442dd47f68 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-16-48_1815209933/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 106.17551380935026, + -1611.5996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.77359002070358, + -1613.0996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.3716662320569, + -1614.5996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 113.96974244341021, + -1616.0996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 116.56781865476353, + -1617.5996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 119.16589486611684, + -1619.0996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 121.76397107747016, + -1620.5996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 124.36204728882348, + -1622.0996831393493, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.36204728882348, + -1622.0996831393493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 125.86204728882348, + -1624.6977593507027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.36204728882348, + -1627.295835562056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 128.86204728882348, + -1629.8939117734094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 130.36204728882348, + -1632.4919879847628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 131.86204728882348, + -1635.0900641961161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 133.36204728882348, + -1637.6881404074695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 134.86204728882348, + -1640.286216618823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 136.36204728882348, + -1642.8842928301763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 137.86204728882348, + -1645.4823690415296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 139.36204728882348, + -1648.080445252883, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 140.86204728882348, + -1650.6785214642364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 142.36204728882348, + -1653.2765976755898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 143.86204728882348, + -1655.8746738869431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 145.36204728882348, + -1658.4727500982965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 146.86204728882348, + -1661.0708263096499, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 148.36204728882348, + -1663.6689025210032, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 148.36204728882348, + -1663.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 148.36204728882348, + -1666.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 148.36204728882348, + -1669.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 148.36204728882348, + -1672.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 148.36204728882348, + -1675.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 148.36204728882348, + -1678.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 148.36204728882348, + -1681.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 148.36204728882348, + -1684.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 148.36204728882348, + -1687.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 148.36204728882348, + -1690.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 148.36204728882348, + -1693.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 148.36204728882348, + -1696.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 148.36204728882348, + -1699.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 148.36204728882348, + -1702.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 148.36204728882348, + -1705.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 148.36204728882348, + -1708.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 148.36204728882348, + -1711.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 148.36204728882348, + -1714.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 148.36204728882348, + -1717.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 148.36204728882348, + -1720.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 148.36204728882348, + -1723.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 148.36204728882348, + -1726.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 148.36204728882348, + -1729.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 148.36204728882348, + -1732.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 148.36204728882348, + -1735.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 148.36204728882348, + -1738.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 148.36204728882348, + -1741.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 148.36204728882348, + -1744.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 148.36204728882348, + -1747.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 148.36204728882348, + -1750.6689025210032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 148.36204728882348, + -1753.6689025210032, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-24-47_452825171/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-24-47_452825171/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..700d0277b8a114de20e658382da4558a0e7984fc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-24-47_452825171/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 187.26671971463983, + -1481.1653461474448, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 188.76671971463983, + -1478.5672699360914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.26671971463983, + -1475.969193724738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 191.76671971463983, + -1473.3711175133847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 193.26671971463983, + -1470.7730413020313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 194.76671971463983, + -1468.174965090678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 196.26671971463983, + -1465.5768888793245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 197.76671971463983, + -1462.9788126679712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 199.26671971463983, + -1460.3807364566178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 200.76671971463983, + -1457.7826602452644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 202.26671971463983, + -1455.184584033911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 203.76671971463983, + -1452.5865078225577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 205.26671971463983, + -1449.9884316112043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 206.76671971463983, + -1447.390355399851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 208.26671971463983, + -1444.7922791884976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 209.76671971463983, + -1442.1942029771442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 211.26671971463983, + -1439.5961267657908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 212.76671971463983, + -1436.9980505544374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 214.26671971463983, + -1434.399974343084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 215.76671971463983, + -1431.8018981317307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 217.26671971463983, + -1429.2038219203773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 218.76671971463983, + -1426.605745709024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 220.26671971463983, + -1424.0076694976706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 221.76671971463983, + -1421.4095932863172, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 221.76671971463983, + -1421.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 221.76671971463983, + -1418.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.76671971463983, + -1415.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 221.76671971463983, + -1412.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 221.76671971463983, + -1409.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 221.76671971463983, + -1406.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.76671971463983, + -1403.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 221.76671971463983, + -1400.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 221.76671971463983, + -1397.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 221.76671971463983, + -1394.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 221.76671971463983, + -1391.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 221.76671971463983, + -1388.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 221.76671971463983, + -1385.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 221.76671971463983, + -1382.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 221.76671971463983, + -1379.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 221.76671971463983, + -1376.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 221.76671971463983, + -1373.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 221.76671971463983, + -1370.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 221.76671971463983, + -1367.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 221.76671971463983, + -1364.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 221.76671971463983, + -1361.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 221.76671971463983, + -1358.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 221.76671971463983, + -1355.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 221.76671971463983, + -1352.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 221.76671971463983, + -1349.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 221.76671971463983, + -1346.4095932863172, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 221.76671971463983, + -1346.4095932863172, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 221.76671971463983, + -1346.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 224.36479592599315, + -1344.9095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 226.96287213734647, + -1343.4095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 229.56094834869978, + -1341.9095932863172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 232.1590245600531, + -1340.4095932863172, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-28-28_82173109/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-28-28_82173109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81883aba0b771c0adbdb60d191172cd9ad00022f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-28-28_82173109/pose.jsonl @@ -0,0 +1,860 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 88.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 94.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 97.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 100.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 103.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 103.27667887819489, + -1614.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 105.8747550895482, + -1615.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 108.47283130090152, + -1617.1013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 111.07090751225483, + -1618.6013840874264, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 111.07090751225483, + -1618.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 114.07090751225483, + -1618.6013840874264, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 114.07090751225483, + -1618.6013840874264, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 114.07090751225483, + -1618.6013840874264, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 114.07090751225483, + -1618.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 114.07090751225483, + -1621.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 114.07090751225483, + -1624.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 114.07090751225483, + -1627.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 114.07090751225483, + -1630.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.07090751225483, + -1633.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 114.07090751225483, + -1636.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 114.07090751225483, + -1639.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 114.07090751225483, + -1642.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 114.07090751225483, + -1645.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 114.07090751225483, + -1648.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 114.07090751225483, + -1651.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 114.07090751225483, + -1654.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 114.07090751225483, + -1657.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 114.07090751225483, + -1660.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 114.07090751225483, + -1663.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 114.07090751225483, + -1666.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 114.07090751225483, + -1669.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 114.07090751225483, + -1672.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 114.07090751225483, + -1675.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 114.07090751225483, + -1678.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.07090751225483, + -1681.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 114.07090751225483, + -1684.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 114.07090751225483, + -1687.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 114.07090751225483, + -1690.6013840874264, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 114.07090751225483, + -1690.6013840874264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 115.57090751225483, + -1693.1994602987797, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 117.07090751225483, + -1695.7975365101331, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 118.57090751225483, + -1698.3956127214865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 120.07090751225483, + -1700.9936889328399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 121.57090751225483, + -1703.5917651441932, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 123.07090751225483, + -1706.1898413555466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 124.57090751225483, + -1708.7879175669, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 126.07090751225483, + -1711.3859937782534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 127.57090751225483, + -1713.9840699896067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 129.07090751225485, + -1716.58214620096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966032 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 130.57090751225485, + -1719.1802224123135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 132.07090751225485, + -1721.7782986236668, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 133.57090751225485, + -1724.3763748350202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 135.07090751225485, + -1726.9744510463736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 136.57090751225485, + -1729.572527257727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 138.07090751225485, + -1732.1706034690803, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 139.57090751225485, + -1734.7686796804337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 141.07090751225485, + -1737.366755891787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 142.57090751225485, + -1739.9648321031405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 144.07090751225485, + -1742.5629083144938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 145.57090751225485, + -1745.1609845258472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 147.07090751225485, + -1747.7590607372006, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 147.07090751225485, + -1747.7590607372006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 147.07090751225485, + -1750.7590607372006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 147.07090751225485, + -1753.7590607372006, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-29-4_1105816539/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-29-4_1105816539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d401011292e5e3430610f1a52c31329207409a5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-29-4_1105816539/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 436.3522147199706, + -1347.0111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 438.95029093132393, + -1345.5111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.54836714267725, + -1344.0111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 444.14644335403057, + -1342.5111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 446.7445195653839, + -1341.0111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 449.3425957767372, + -1339.5111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 451.9406719880905, + -1338.0111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 454.53874819944383, + -1336.5111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 457.13682441079715, + -1335.0111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 459.73490062215046, + -1333.5111314953847, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 459.73490062215046, + -1333.5111314953847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 461.23490062215046, + -1330.9130552840313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 462.73490062215046, + -1328.314979072678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 464.23490062215046, + -1325.7169028613246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 465.73490062215046, + -1323.1188266499712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 467.23490062215046, + -1320.5207504386178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 468.73490062215046, + -1317.9226742272645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 470.23490062215046, + -1315.324598015911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 471.73490062215046, + -1312.7265218045577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.23490062215046, + -1310.1284455932043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 474.73490062215046, + -1307.530369381851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 476.23490062215046, + -1304.9322931704976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 477.73490062215046, + -1302.3342169591442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 479.23490062215046, + -1299.7361407477908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 480.73490062215046, + -1297.1380645364375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 482.23490062215046, + -1294.539988325084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 483.73490062215046, + -1291.9419121137307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 485.23490062215046, + -1289.3438359023774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 486.73490062215046, + -1286.745759691024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 488.23490062215046, + -1284.1476834796706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 489.73490062215046, + -1281.5496072683172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 491.23490062215046, + -1278.9515310569639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 492.73490062215046, + -1276.3534548456105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 494.23490062215046, + -1273.755378634257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 495.73490062215046, + -1271.1573024229037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 497.23490062215046, + -1268.5592262115504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 498.73490062215046, + -1265.961150000197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 500.23490062215046, + -1263.3630737888436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 501.73490062215046, + -1260.7649975774902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 503.23490062215046, + -1258.1669213661369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 504.73490062215046, + -1255.5688451547835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 506.23490062215046, + -1252.9707689434301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 507.73490062215046, + -1250.3726927320768, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-3-14_199411898/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-3-14_199411898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62f0a102e18b9e9824237e8c2fb3a2be8e7f872f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-3-14_199411898/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.61553903848596, + -1427.4532799857177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -71.11553903848596, + -1430.051356197071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.61553903848596, + -1432.6494324084244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -74.11553903848596, + -1435.2475086197778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -75.61553903848596, + -1437.8455848311312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -77.11553903848596, + -1440.4436610424846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -78.61553903848596, + -1443.041737253838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -80.11553903848596, + -1445.6398134651913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.61553903848596, + -1448.2378896765447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -83.11553903848596, + -1450.835965887898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.61553903848596, + -1453.4340420992514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -86.11553903848596, + -1456.0321183106048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -87.61553903848596, + -1458.6301945219582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -89.11553903848596, + -1461.2282707333115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -90.61553903848596, + -1463.826346944665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -92.11553903848596, + -1466.4244231560183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.61553903848596, + -1469.0224993673717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -95.11553903848596, + -1471.620575578725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -96.61553903848596, + -1474.2186517900784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -98.11553903848596, + -1476.8167280014318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -99.61553903848596, + -1479.4148042127852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.11553903848596, + -1482.0128804241385, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -101.11553903848596, + -1482.0128804241385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -101.11553903848596, + -1485.0128804241385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -101.11553903848596, + -1488.0128804241385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -101.11553903848596, + -1491.0128804241385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.11553903848596, + -1494.0128804241385, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -101.11553903848596, + -1494.0128804241385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -102.61553903848596, + -1496.610956635492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -104.11553903848596, + -1499.2090328468453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -105.61553903848596, + -1501.8071090581986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -107.11553903848596, + -1504.405185269552, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -107.11553903848596, + -1504.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -109.71361524983928, + -1505.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -112.3116914611926, + -1507.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -114.90976767254591, + -1508.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -117.50784388389923, + -1510.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -120.10592009525254, + -1511.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -122.70399630660586, + -1513.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -125.30207251795918, + -1514.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -127.90014872931249, + -1516.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -130.4982249406658, + -1517.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -133.09630115201912, + -1519.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -135.69437736337244, + -1520.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -138.29245357472576, + -1522.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -140.89052978607907, + -1523.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -143.4886059974324, + -1525.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -146.0866822087857, + -1526.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -148.68475842013902, + -1528.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -151.28283463149234, + -1529.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -153.88091084284565, + -1531.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -156.47898705419897, + -1532.905185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -159.07706326555228, + -1534.405185269552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -161.6751394769056, + -1535.905185269552, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-30-0_454333378/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-30-0_454333378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81d5bc4b300b9a20d80ec84cc38d21f020d2b50d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-30-0_454333378/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1036.1316558722724, + -2806.1945638070547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1034.6316558722724, + -2808.792640018408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1033.1316558722724, + -2811.390716229761, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1031.6316558722724, + -2813.988792441114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1030.1316558722724, + -2816.5868686524673, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1028.6316558722724, + -2819.1849448638204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1027.1316558722724, + -2821.7830210751736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1025.6316558722724, + -2824.3810972865267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1024.1316558722724, + -2826.97917349788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1022.6316558722724, + -2829.577249709233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1021.1316558722724, + -2832.175325920586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1019.6316558722724, + -2834.7734021319393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1018.1316558722724, + -2837.3714783432924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1016.6316558722724, + -2839.9695545546456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1015.1316558722724, + -2842.5676307659987, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1013.6316558722724, + -2845.165706977352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1012.1316558722724, + -2847.763783188705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1010.6316558722724, + -2850.361859400058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1009.1316558722724, + -2852.9599356114113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1007.6316558722724, + -2855.5580118227645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1006.1316558722724, + -2858.1560880341176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1004.6316558722724, + -2860.7541642454707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1003.1316558722724, + -2863.352240456824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1001.6316558722724, + -2865.950316668177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.1316558722724, + -2868.54839287953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -998.6316558722724, + -2871.1464690908833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -997.1316558722724, + -2873.7445453022365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -995.6316558722724, + -2876.3426215135896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -994.1316558722724, + -2878.9406977249428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -992.6316558722724, + -2881.538773936296, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -991.1316558722724, + -2884.136850147649, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -989.6316558722724, + -2886.734926359002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -988.1316558722724, + -2889.3330025703553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -986.6316558722724, + -2891.9310787817085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -985.1316558722724, + -2894.5291549930616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -983.6316558722724, + -2897.127231204415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -982.1316558722724, + -2899.725307415768, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -982.1316558722724, + -2899.725307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -979.533579660919, + -2901.225307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -976.9355034495657, + -2902.725307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -974.3374272382123, + -2904.225307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -971.7393510268589, + -2905.725307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -969.1412748155055, + -2907.225307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -966.5431986041522, + -2908.725307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -963.9451223927988, + -2910.225307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -961.3470461814454, + -2911.725307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -958.748969970092, + -2913.225307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -956.1508937587387, + -2914.725307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -953.5528175473853, + -2916.225307415768, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -953.5528175473853, + -2916.225307415768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -952.0528175473853, + -2918.823383627121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -950.5528175473853, + -2921.421459838474, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965694 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-42-59_873199181/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-42-59_873199181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..612931e5851db94da5ebf847c9ef810ef40aca75 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-42-59_873199181/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 406.51044739939266, + -1352.6368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 409.108523610746, + -1351.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 411.7065998220993, + -1349.6368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.3046760334526, + -1348.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 416.9027522448059, + -1346.6368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 419.50082845615924, + -1345.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 422.09890466751256, + -1343.6368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 424.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 424.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 427.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 430.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 433.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 436.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 439.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 439.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 439.6969808788659, + -1342.1368208677698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 441.1969808788659, + -1339.5387446564164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 442.6969808788659, + -1336.940668445063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 444.1969808788659, + -1334.3425922337096, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 445.6969808788659, + -1331.7445160223563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 447.1969808788659, + -1329.146439811003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 448.6969808788659, + -1326.5483635996495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 450.1969808788659, + -1323.9502873882961, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 451.6969808788659, + -1321.3522111769428, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 453.1969808788659, + -1318.7541349655894, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 454.6969808788659, + -1316.156058754236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 456.1969808788659, + -1313.5579825428827, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 457.6969808788659, + -1310.9599063315293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 459.1969808788659, + -1308.361830120176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 460.6969808788659, + -1305.7637539088225, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 462.1969808788659, + -1303.1656776974692, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 463.6969808788659, + -1300.5676014861158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 465.1969808788659, + -1297.9695252747624, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 466.6969808788659, + -1295.371449063409, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 468.1969808788659, + -1292.7733728520557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 469.6969808788659, + -1290.1752966407023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 471.1969808788659, + -1287.577220429349, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 472.6969808788659, + -1284.9791442179956, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 474.1969808788659, + -1282.3810680066422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 475.6969808788659, + -1279.7829917952888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 477.1969808788659, + -1277.1849155839354, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 478.6969808788659, + -1274.586839372582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 480.1969808788659, + -1271.9887631612287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 481.6969808788659, + -1269.3906869498753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 483.1969808788659, + -1266.792610738522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 484.6969808788659, + -1264.1945345271686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 486.1969808788659, + -1261.5964583158152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 487.6969808788659, + -1258.9983821044618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 489.1969808788659, + -1256.4003058931085, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 489.1969808788659, + -1256.4003058931085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 491.7950570902192, + -1254.9003058931085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 494.3931333015725, + -1253.4003058931085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 496.9912095129258, + -1251.9003058931085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 499.58928572427914, + -1250.4003058931085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 502.18736193563245, + -1248.9003058931085, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 504.78543814698577, + -1247.4003058931085, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-54-14_63299708/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-54-14_63299708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6749a553967b26c8ea5de60e56a896e84a52e0ae --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-54-14_63299708/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -103.79535607202226, + -1414.6453341365234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -105.29535607202226, + -1417.2434103478768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -106.79535607202226, + -1419.8414865592301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -108.29535607202226, + -1422.4395627705835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -109.79535607202226, + -1425.0376389819369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -111.29535607202226, + -1427.6357151932903, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -112.79535607202226, + -1430.2337914046436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -114.29535607202226, + -1432.831867615997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -115.79535607202226, + -1435.4299438273504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -117.29535607202226, + -1438.0280200387037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -118.79535607202226, + -1440.6260962500571, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -120.29535607202226, + -1443.2241724614105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -121.79535607202226, + -1445.8222486727639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -123.29535607202226, + -1448.4203248841172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -124.79535607202226, + -1451.0184010954706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -126.29535607202226, + -1453.616477306824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -127.79535607202226, + -1456.2145535181774, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -129.29535607202226, + -1458.8126297295307, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -129.29535607202226, + -1458.8126297295307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -131.89343228337557, + -1460.3126297295307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -134.4915084947289, + -1461.8126297295307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.0895847060822, + -1463.3126297295307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -139.68766091743552, + -1464.8126297295307, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -139.68766091743552, + -1464.8126297295307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.18766091743552, + -1467.410705940884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -142.68766091743552, + -1470.0087821522375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -144.18766091743552, + -1472.6068583635908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -145.68766091743552, + -1475.2049345749442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.18766091743552, + -1477.8030107862976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -148.68766091743552, + -1480.401086997651, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -150.18766091743552, + -1482.9991632090043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.68766091743552, + -1485.5972394203577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.18766091743552, + -1488.195315631711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -154.68766091743552, + -1490.7933918430645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -156.18766091743552, + -1493.3914680544178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -157.68766091743552, + -1495.9895442657712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -159.18766091743552, + -1498.5876204771246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -160.68766091743552, + -1501.185696688478, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -162.18766091743552, + -1503.7837728998313, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -162.18766091743552, + -1503.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -162.18766091743552, + -1506.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -162.18766091743552, + -1509.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -162.18766091743552, + -1512.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.18766091743552, + -1515.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -162.18766091743552, + -1518.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -162.18766091743552, + -1521.7837728998313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -162.18766091743552, + -1524.7837728998313, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-6-9_1669679262/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-6-9_1669679262/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7eda5e16e3efbcff2ff0c7b194680ed9fc796e8 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_3-6-9_1669679262/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.18193923222157, + -1387.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 390.58386302086825, + -1386.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 387.98578680951493, + -1384.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 385.3877105981616, + -1383.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.7896343868083, + -1381.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.191558175455, + -1380.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 377.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 377.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 374.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 371.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 368.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 365.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 362.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 359.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 356.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 353.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 347.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 344.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 341.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 338.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 335.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 332.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 329.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 323.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 320.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 317.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 314.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 311.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 311.59348196410167, + -1378.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 308.99540575274835, + -1377.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.39732954139504, + -1375.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 303.7992533300417, + -1374.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 301.2011771186884, + -1372.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 298.6031009073351, + -1371.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.0050246959818, + -1369.522391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.40694848462846, + -1368.022391910226, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 293.40694848462846, + -1368.022391910226, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 291.90694848462846, + -1365.4243156988725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 290.40694848462846, + -1362.8262394875192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 288.90694848462846, + -1360.2281632761658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 287.40694848462846, + -1357.6300870648124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 285.90694848462846, + -1355.032010853459, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 284.40694848462846, + -1352.4339346421057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 282.90694848462846, + -1349.8358584307523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 281.40694848462846, + -1347.237782219399, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 279.90694848462846, + -1344.6397060080456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 278.40694848462846, + -1342.0416297966922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 276.90694848462846, + -1339.4435535853388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 275.40694848462846, + -1336.8454773739854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 273.90694848462846, + -1334.247401162632, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 273.90694848462846, + -1334.247401162632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 271.30887227327514, + -1332.747401162632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 268.7107960619218, + -1331.247401162632, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-1-15_219544266/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-1-15_219544266/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5459b9e4d278a684d7f45088adf6b19466bb4648 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-1-15_219544266/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.7174530856813, + -1446.9738797005705, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -71.2174530856813, + -1449.5719559119239, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.7174530856813, + -1452.1700321232772, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -74.2174530856813, + -1454.7681083346306, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -75.7174530856813, + -1457.366184545984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -77.2174530856813, + -1459.9642607573373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -78.7174530856813, + -1462.5623369686907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -80.2174530856813, + -1465.160413180044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.7174530856813, + -1467.7584893913975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -83.2174530856813, + -1470.3565656027508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.7174530856813, + -1472.9546418141042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -86.2174530856813, + -1475.5527180254576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -87.7174530856813, + -1478.150794236811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -89.2174530856813, + -1480.7488704481643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -90.7174530856813, + -1483.3469466595177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -92.2174530856813, + -1485.945022870871, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.7174530856813, + -1488.5430990822244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -95.2174530856813, + -1491.1411752935778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -96.7174530856813, + -1493.7392515049312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -98.2174530856813, + -1496.3373277162846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -99.7174530856813, + -1498.935403927638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -101.2174530856813, + -1501.5334801389913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -102.7174530856813, + -1504.1315563503447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -104.2174530856813, + -1506.729632561698, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -104.2174530856813, + -1506.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -106.81552929703462, + -1508.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -109.41360550838793, + -1509.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -112.01168171974125, + -1511.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.60975793109456, + -1512.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.20783414244788, + -1514.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -119.8059103538012, + -1515.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.40398656515451, + -1517.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -125.00206277650783, + -1518.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -127.60013898786114, + -1520.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -130.19821519921447, + -1521.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -132.7962914105678, + -1523.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -135.3943676219211, + -1524.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -137.99244383327442, + -1526.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -140.59052004462774, + -1527.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -143.18859625598105, + -1529.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -145.78667246733437, + -1530.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -148.38474867868769, + -1532.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -150.982824890041, + -1533.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -153.58090110139432, + -1535.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -156.17897731274763, + -1536.729632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -158.77705352410095, + -1538.229632561698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.37512973545427, + -1539.729632561698, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-15-1_164826621/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-15-1_164826621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..331e342836ccb6ddd0925c46193e14166cf87910 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-15-1_164826621/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1.277252609663961, + -1539.7579991759317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 2.7772526096639614, + -1542.356075387285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 4.277252609663962, + -1544.9541515986384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 5.777252609663963, + -1547.5522278099918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196607 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 7.277252609663963, + -1550.1503040213452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 8.777252609663963, + -1552.7483802326985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 10.277252609663963, + -1555.346456444052, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 11.777252609663963, + -1557.9445326554053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 13.277252609663963, + -1560.5426088667587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 14.777252609663963, + -1563.140685078112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 16.277252609663964, + -1565.7387612894654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966067 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 17.777252609663964, + -1568.3368375008188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 19.277252609663964, + -1570.9349137121721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 20.777252609663964, + -1573.5329899235255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 22.277252609663964, + -1576.131066134879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.777252609663964, + -1578.7291423462323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 25.277252609663964, + -1581.3272185575856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 26.777252609663964, + -1583.925294768939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 28.277252609663964, + -1586.5233709802924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 29.777252609663964, + -1589.1214471916458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 31.277252609663964, + -1591.7195234029991, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 32.77725260966397, + -1594.3175996143525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966063 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.27725260966397, + -1596.9156758257059, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 35.77725260966397, + -1599.5137520370592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 37.27725260966397, + -1602.1118282484126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 38.77725260966397, + -1604.709904459766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 40.27725260966397, + -1607.3079806711194, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 41.77725260966397, + -1609.9060568824727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 43.27725260966397, + -1612.504133093826, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 43.27725260966397, + -1612.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 43.27725260966397, + -1615.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 43.27725260966397, + -1618.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 43.27725260966397, + -1621.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 43.27725260966397, + -1624.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 43.27725260966397, + -1627.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 43.27725260966397, + -1630.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 43.27725260966397, + -1633.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 43.27725260966397, + -1636.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 43.27725260966397, + -1639.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 43.27725260966397, + -1642.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 43.27725260966397, + -1645.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 43.27725260966397, + -1648.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 43.27725260966397, + -1651.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 43.27725260966397, + -1654.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 43.27725260966397, + -1657.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 43.27725260966397, + -1660.504133093826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 43.27725260966397, + -1660.504133093826, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 43.27725260966397, + -1660.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 45.875328821017284, + -1662.004133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 48.4734050323706, + -1663.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 51.071481243723916, + -1665.004133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 53.66955745507723, + -1666.504133093826, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 56.26763366643055, + -1668.004133093826, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-25-29_1936060910/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-25-29_1936060910/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..741bd9c5b74f1cdb4930b2302f06375988dcee27 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-25-29_1936060910/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1006.559106119377, + -2788.6650110654286, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1005.059106119377, + -2791.263087276782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1003.559106119377, + -2793.861163488135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1002.059106119377, + -2796.459239699488, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1000.559106119377, + -2799.057315910841, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -999.059106119377, + -2801.6553921221944, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -999.059106119377, + -2801.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -999.059106119377, + -2804.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -999.059106119377, + -2807.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -999.059106119377, + -2810.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.059106119377, + -2813.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -999.059106119377, + -2816.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.059106119377, + -2819.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -999.059106119377, + -2822.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.059106119377, + -2825.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -999.059106119377, + -2828.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -999.059106119377, + -2831.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -999.059106119377, + -2834.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -999.059106119377, + -2837.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -999.059106119377, + -2840.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -999.059106119377, + -2843.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -999.059106119377, + -2846.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -999.059106119377, + -2849.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -999.059106119377, + -2852.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -999.059106119377, + -2855.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -999.059106119377, + -2858.6553921221944, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -999.059106119377, + -2858.6553921221944, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -999.059106119377, + -2858.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -996.4610299080236, + -2860.1553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -993.8629536966703, + -2861.6553921221944, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -993.8629536966703, + -2861.6553921221944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -992.3629536966703, + -2864.2534683335475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -990.8629536966703, + -2866.8515445449007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -989.3629536966703, + -2869.449620756254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -987.8629536966703, + -2872.047696967607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -986.3629536966703, + -2874.64577317896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -984.8629536966703, + -2877.2438493903132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -983.3629536966703, + -2879.8419256016664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -981.8629536966703, + -2882.4400018130195, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -980.3629536966703, + -2885.0380780243727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -978.8629536966703, + -2887.636154235726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -977.3629536966703, + -2890.234230447079, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -975.8629536966703, + -2892.832306658432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -974.3629536966703, + -2895.4303828697853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -972.8629536966703, + -2898.0284590811384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -971.3629536966703, + -2900.6265352924916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -969.8629536966703, + -2903.2246115038447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -968.3629536966703, + -2905.822687715198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -966.8629536966703, + -2908.420763926551, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -966.8629536966703, + -2908.420763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -964.2648774853169, + -2909.920763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -961.6668012739635, + -2911.420763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -959.0687250626102, + -2912.920763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -956.4706488512568, + -2914.420763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -953.8725726399034, + -2915.920763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -951.27449642855, + -2917.420763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -948.6764202171967, + -2918.920763926551, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -946.0783440058433, + -2920.420763926551, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-26-59_1449228398/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-26-59_1449228398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45f70480d334c4bb8f8b4b7bb04041ba481b5cdb --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-26-59_1449228398/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 400.6644280242864, + -1344.0333071277923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.1644280242864, + -1341.435230916439, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 403.6644280242864, + -1338.8371547050856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 405.1644280242864, + -1336.2390784937322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 406.6644280242864, + -1333.6410022823788, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 408.1644280242864, + -1331.0429260710255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 409.6644280242864, + -1328.444849859672, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.1644280242864, + -1325.8467736483187, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 412.6644280242864, + -1323.2486974369654, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 412.6644280242864, + -1323.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 412.6644280242864, + -1320.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.6644280242864, + -1317.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 412.6644280242864, + -1314.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 412.6644280242864, + -1311.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 412.6644280242864, + -1308.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.6644280242864, + -1305.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.6644280242864, + -1302.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 412.6644280242864, + -1299.2486974369654, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 412.6644280242864, + -1299.2486974369654, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 412.6644280242864, + -1299.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 415.2625042356397, + -1297.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 417.860580446993, + -1296.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 420.45865665834634, + -1294.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 423.05673286969966, + -1293.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 425.654809081053, + -1291.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 428.2528852924063, + -1290.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 430.8509615037596, + -1288.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 433.4490377151129, + -1287.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.04711392646624, + -1285.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.64519013781955, + -1284.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 441.24326634917287, + -1282.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 443.8413425605262, + -1281.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 446.4394187718795, + -1279.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 449.0374949832328, + -1278.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 451.63557119458613, + -1276.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 454.23364740593945, + -1275.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 456.83172361729277, + -1273.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 459.4297998286461, + -1272.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 462.0278760399994, + -1270.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 464.6259522513527, + -1269.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 467.22402846270603, + -1267.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 469.82210467405935, + -1266.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 472.42018088541266, + -1264.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 475.018257096766, + -1263.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 477.6163333081193, + -1261.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 480.2144095194726, + -1260.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 482.8124857308259, + -1258.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 485.41056194217924, + -1257.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 488.00863815353256, + -1255.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 490.6067143648859, + -1254.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 493.2047905762392, + -1252.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 495.8028667875925, + -1251.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 498.4009429989458, + -1249.7486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 500.99901921029914, + -1248.2486974369654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 503.59709542165245, + -1246.7486974369654, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-34-54_396377017/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-34-54_396377017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff702222dfc730d91bca060bb8d391b9dbb7ce8c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-34-54_396377017/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.29712481600964, + -1489.9112012330804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -95.89520102736296, + -1491.4112012330804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -98.49327723871627, + -1492.9112012330804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.09135345006959, + -1494.4112012330804, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.09135345006959, + -1494.4112012330804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -102.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -102.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -108.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -114.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -117.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -120.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -123.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -126.59135345006959, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -129.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -132.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -135.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -144.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -147.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -150.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -153.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -156.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -159.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -162.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -165.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -168.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -171.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -174.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -177.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -180.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -183.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -183.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -183.5913534500696, + -1497.0092774444338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -185.0913534500696, + -1494.4112012330804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -186.5913534500696, + -1491.813125021727, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -186.5913534500696, + -1491.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -189.1894296614229, + -1490.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -191.78750587277622, + -1488.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -194.38558208412954, + -1487.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -196.98365829548285, + -1485.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -199.58173450683617, + -1484.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -202.1798107181895, + -1482.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -204.7778869295428, + -1481.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -207.37596314089612, + -1479.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -209.97403935224943, + -1478.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -212.57211556360275, + -1476.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -215.17019177495607, + -1475.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -217.76826798630938, + -1473.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -220.3663441976627, + -1472.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -222.96442040901601, + -1470.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -225.56249662036933, + -1469.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -228.16057283172265, + -1467.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -230.75864904307596, + -1466.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -233.35672525442928, + -1464.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -235.9548014657826, + -1463.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -238.5528776771359, + -1461.813125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -241.15095388848923, + -1460.313125021727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -243.74903009984254, + -1458.813125021727, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-48-52_981914693/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-48-52_981914693/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fec181be1ffc04e63eded61be3ab0c51a90c7cc --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-48-52_981914693/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 315.639889918106, + -1477.3030686274456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 314.139889918106, + -1474.7049924160922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 312.639889918106, + -1472.1069162047388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 311.139889918106, + -1469.5088399933854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 309.639889918106, + -1466.910763782032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 308.139889918106, + -1464.3126875706787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 306.639889918106, + -1461.7146113593253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 305.139889918106, + -1459.116535147972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 303.639889918106, + -1456.5184589366186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 302.139889918106, + -1453.9203827252652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 300.639889918106, + -1451.3223065139118, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 299.139889918106, + -1448.7242303025585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.639889918106, + -1446.126154091205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 296.139889918106, + -1443.5280778798517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 294.639889918106, + -1440.9300016684983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 293.139889918106, + -1438.331925457145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 291.639889918106, + -1435.7338492457916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 290.139889918106, + -1433.1357730344382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 288.639889918106, + -1430.5376968230848, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 287.139889918106, + -1427.9396206117315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 285.639889918106, + -1425.341544400378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 284.139889918106, + -1422.7434681890247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 282.639889918106, + -1420.1453919776714, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 281.139889918106, + -1417.547315766318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 279.639889918106, + -1414.9492395549646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 278.139889918106, + -1412.3511633436112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 276.639889918106, + -1409.7530871322579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 275.139889918106, + -1407.1550109209045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 273.639889918106, + -1404.5569347095511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 272.139889918106, + -1401.9588584981977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 270.639889918106, + -1399.3607822868444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 269.139889918106, + -1396.762706075491, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 267.639889918106, + -1394.1646298641376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 266.139889918106, + -1391.5665536527843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 264.639889918106, + -1388.9684774414309, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 263.139889918106, + -1386.3704012300775, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 263.139889918106, + -1386.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 263.139889918106, + -1383.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 263.139889918106, + -1380.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 263.139889918106, + -1377.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 263.139889918106, + -1374.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 263.139889918106, + -1371.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 263.139889918106, + -1368.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 263.139889918106, + -1365.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 263.139889918106, + -1362.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 263.139889918106, + -1359.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 263.139889918106, + -1356.3704012300775, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 263.139889918106, + -1356.3704012300775, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 263.139889918106, + -1356.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 260.5418137067527, + -1354.8704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 257.9437374953994, + -1353.3704012300775, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 257.9437374953994, + -1353.3704012300775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 256.4437374953994, + -1350.7723250187241, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 254.94373749539938, + -1348.1742488073708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 253.44373749539938, + -1345.5761725960174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 251.94373749539938, + -1342.978096384664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 250.44373749539938, + -1340.3800201733106, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-50-18_987987334/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-50-18_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86fd6798adbfa2f623dee0865c9a21d34077545d --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-50-18_987987334/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -166.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -169.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -172.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -178.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -181.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -184.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -187.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -190.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -193.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -193.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -193.3634118244899, + -1595.0812068831901, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -194.8634118244899, + -1592.4831306718368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -196.3634118244899, + -1589.8850544604834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -197.8634118244899, + -1587.28697824913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -199.3634118244899, + -1584.6889020377766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -200.8634118244899, + -1582.0908258264233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -202.3634118244899, + -1579.49274961507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -203.8634118244899, + -1576.8946734037165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -205.3634118244899, + -1574.2965971923632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -206.8634118244899, + -1571.6985209810098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -208.3634118244899, + -1569.1004447696564, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -209.8634118244899, + -1566.502368558303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -211.3634118244899, + -1563.9042923469497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -212.8634118244899, + -1561.3062161355963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -214.3634118244899, + -1558.708139924243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -215.8634118244899, + -1556.1100637128895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -217.3634118244899, + -1553.5119875015362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -218.8634118244899, + -1550.9139112901828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -220.3634118244899, + -1548.3158350788294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -221.8634118244899, + -1545.717758867476, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -223.3634118244899, + -1543.1196826561227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -224.8634118244899, + -1540.5216064447693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -226.3634118244899, + -1537.923530233416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -227.8634118244899, + -1535.3254540220626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -229.3634118244899, + -1532.7273778107092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -230.8634118244899, + -1530.1293015993558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -232.3634118244899, + -1527.5312253880024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -233.8634118244899, + -1524.933149176649, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -235.3634118244899, + -1522.3350729652957, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -236.8634118244899, + -1519.7369967539423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -238.3634118244899, + -1517.138920542589, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -239.8634118244899, + -1514.5408443312356, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -241.3634118244899, + -1511.9427681198822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -242.8634118244899, + -1509.3446919085288, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -244.3634118244899, + -1506.7466156971755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -245.8634118244899, + -1504.148539485822, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -247.3634118244899, + -1501.5504632744687, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -247.3634118244899, + -1501.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -247.3634118244899, + -1498.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -247.3634118244899, + -1495.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -247.3634118244899, + -1492.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -247.3634118244899, + -1489.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -247.3634118244899, + -1486.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -247.3634118244899, + -1483.5504632744687, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -247.3634118244899, + -1480.5504632744687, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-9-58_1351538839/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-9-58_1351538839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c00c266cd4412e72472262db85367e6a823ea0b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_4-9-58_1351538839/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 384.5004178950727, + -1405.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 381.9023416837194, + -1403.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 379.30426547236607, + -1402.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 376.70618926101275, + -1400.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 374.10811304965944, + -1399.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 371.5100368383061, + -1397.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 368.9119606269528, + -1396.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 366.3138844155995, + -1394.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 363.7158082042462, + -1393.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 361.11773199289286, + -1391.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 358.51965578153954, + -1390.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 355.9215795701862, + -1388.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 353.3235033588329, + -1387.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.7254271474796, + -1385.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.1273509361263, + -1384.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 345.52927472477296, + -1382.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 342.93119851341964, + -1381.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 340.33312230206633, + -1379.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 337.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 337.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 334.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 325.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 322.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 319.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 316.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 313.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 310.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 310.735046090713, + -1378.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 308.1369698793597, + -1376.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 305.5388936680064, + -1375.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 302.94081745665306, + -1373.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 300.34274124529975, + -1372.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.74466503394643, + -1370.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 295.1465888225931, + -1369.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 292.5485126112398, + -1367.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 289.9504363998865, + -1366.1604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 287.35236018853317, + -1364.6604760745836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 287.35236018853317, + -1364.6604760745836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 285.85236018853317, + -1362.0623998632302, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 284.35236018853317, + -1359.4643236518768, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 282.85236018853317, + -1356.8662474405235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 281.35236018853317, + -1354.26817122917, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 279.85236018853317, + -1351.6700950178167, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.35236018853317, + -1349.0720188064633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 276.85236018853317, + -1346.47394259511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 275.35236018853317, + -1343.8758663837566, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 273.85236018853317, + -1341.2777901724032, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 272.35236018853317, + -1338.6797139610499, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 270.85236018853317, + -1336.0816377496965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.35236018853317, + -1333.483561538343, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-19-40_1794292538/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-19-40_1794292538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ce59f27a12f9a2e9242f315dfdeb5751b5fbb20 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-19-40_1794292538/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 202.15693878474528, + -1486.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 202.15693878474528, + -1483.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 202.15693878474528, + -1480.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 202.15693878474528, + -1477.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 202.15693878474528, + -1474.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 202.15693878474528, + -1471.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.15693878474528, + -1468.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 202.15693878474528, + -1465.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 202.15693878474528, + -1462.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 202.15693878474528, + -1459.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 202.15693878474528, + -1456.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 202.15693878474528, + -1453.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 202.15693878474528, + -1450.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 202.15693878474528, + -1447.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.15693878474528, + -1444.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 202.15693878474528, + -1441.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 202.15693878474528, + -1438.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 202.15693878474528, + -1435.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 202.15693878474528, + -1432.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 202.15693878474528, + -1429.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.15693878474528, + -1426.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 202.15693878474528, + -1423.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 202.15693878474528, + -1420.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 202.15693878474528, + -1417.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 202.15693878474528, + -1414.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 202.15693878474528, + -1411.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 202.15693878474528, + -1408.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 202.15693878474528, + -1405.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 202.15693878474528, + -1402.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 202.15693878474528, + -1399.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 202.15693878474528, + -1396.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 202.15693878474528, + -1393.2162104409654, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 202.15693878474528, + -1393.2162104409654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 203.65693878474528, + -1390.618134229612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 205.15693878474528, + -1388.0200580182586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 206.65693878474528, + -1385.4219818069053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 208.15693878474528, + -1382.8239055955519, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 209.65693878474528, + -1380.2258293841985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 211.15693878474528, + -1377.6277531728451, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 212.65693878474528, + -1375.0296769614918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 214.15693878474528, + -1372.4316007501384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 215.65693878474528, + -1369.833524538785, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 217.15693878474528, + -1367.2354483274316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 218.65693878474528, + -1364.6373721160783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 220.15693878474528, + -1362.039295904725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 221.65693878474528, + -1359.4412196933715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 223.15693878474528, + -1356.8431434820181, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 224.65693878474528, + -1354.2450672706648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 226.15693878474528, + -1351.6469910593114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 227.65693878474528, + -1349.048914847958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 229.15693878474528, + -1346.4508386366047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 230.65693878474528, + -1343.8527624252513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 232.15693878474528, + -1341.254686213898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 233.65693878474528, + -1338.6566100025445, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-29-4_1762924393/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-29-4_1762924393/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6146d0a15e5053a4f8b8e6e7f924c9c8102b5ddf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-29-4_1762924393/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 387.8214604466412, + -1467.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.2233842352879, + -1469.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.62530802393456, + -1470.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 380.02723181258125, + -1472.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 377.42915560122793, + -1473.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 374.8310793898746, + -1475.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 372.2330031785213, + -1476.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 369.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 369.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 366.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 363.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 357.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 351.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 348.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 339.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 336.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 336.634926967168, + -1478.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 334.03685075581467, + -1479.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 331.43877454446135, + -1481.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 328.84069833310804, + -1482.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 326.2426221217547, + -1484.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 323.6445459104014, + -1485.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 321.0464696990481, + -1487.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 318.4483934876948, + -1488.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 315.85031727634146, + -1490.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 313.25224106498814, + -1491.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.6541648536348, + -1493.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 308.0560886422815, + -1494.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.4580124309282, + -1496.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 302.8599362195749, + -1497.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 300.26186000822156, + -1499.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 297.66378379686824, + -1500.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 295.06570758551493, + -1502.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 292.4676313741616, + -1503.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 289.8695551628083, + -1505.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 287.271478951455, + -1506.6987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 284.67340274010166, + -1508.1987399707962, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 284.67340274010166, + -1508.1987399707962, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 283.17340274010166, + -1510.7968161821495, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 281.67340274010166, + -1513.394892393503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 280.17340274010166, + -1515.9929686048563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 278.67340274010166, + -1518.5910448162097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 277.17340274010166, + -1521.189121027563, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 275.67340274010166, + -1523.7871972389164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 274.17340274010166, + -1526.3852734502698, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 272.67340274010166, + -1528.9833496616232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 271.17340274010166, + -1531.5814258729765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 269.67340274010166, + -1534.17950208433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 268.17340274010166, + -1536.7775782956833, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 266.67340274010166, + -1539.3756545070366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 265.17340274010166, + -1541.97373071839, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-33-2_1607774548/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-33-2_1607774548/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..203bfd740faff38b34cba9b4788b68ecb467d563 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-33-2_1607774548/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -96.93984965590215, + -1403.7206472481694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -98.43984965590215, + -1406.3187234595227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.93984965590215, + -1408.9167996708761, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -101.43984965590215, + -1411.5148758822295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.93984965590215, + -1414.1129520935829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.43984965590215, + -1416.7110283049362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.93984965590215, + -1419.3091045162896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.43984965590215, + -1421.907180727643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -108.93984965590215, + -1424.5052569389964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -110.43984965590215, + -1427.1033331503497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.93984965590215, + -1429.701409361703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -113.43984965590215, + -1432.2994855730565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.93984965590215, + -1434.8975617844098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -116.43984965590215, + -1437.4956379957632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -117.93984965590215, + -1440.0937142071166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -119.43984965590215, + -1442.69179041847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -120.93984965590215, + -1445.2898666298233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.43984965590215, + -1447.8879428411767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -123.93984965590215, + -1450.48601905253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -125.43984965590215, + -1453.0840952638835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -126.93984965590215, + -1455.6821714752368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -128.43984965590215, + -1458.2802476865902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -129.93984965590215, + -1460.8783238979436, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -129.93984965590215, + -1460.8783238979436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -132.53792586725547, + -1462.3783238979436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.13600207860878, + -1463.8783238979436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -137.7340782899621, + -1465.3783238979436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -140.33215450131542, + -1466.8783238979436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -142.93023071266873, + -1468.3783238979436, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -142.93023071266873, + -1468.3783238979436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -144.43023071266873, + -1470.976400109297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -145.93023071266873, + -1473.5744763206503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -147.43023071266873, + -1476.1725525320037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -148.93023071266873, + -1478.770628743357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -150.43023071266873, + -1481.3687049547104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -151.93023071266873, + -1483.9667811660638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -153.43023071266873, + -1486.5648573774172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -154.93023071266873, + -1489.1629335887706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -156.43023071266873, + -1491.761009800124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -157.93023071266873, + -1494.3590860114773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -159.43023071266873, + -1496.9571622228307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -160.93023071266873, + -1499.555238434184, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.93023071266873, + -1499.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -160.93023071266873, + -1502.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -160.93023071266873, + -1505.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -160.93023071266873, + -1508.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -160.93023071266873, + -1511.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -160.93023071266873, + -1514.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -160.93023071266873, + -1517.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -160.93023071266873, + -1520.555238434184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -160.93023071266873, + -1523.555238434184, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-37-44_1369678468/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-37-44_1369678468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..378a1a3f096a0ec4069238923b6fd8f6bd35a8c9 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-37-44_1369678468/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 357.6912115310349, + -1273.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 355.0931353196816, + -1275.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 352.4950591083283, + -1276.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.896982896975, + -1278.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 347.29890668562166, + -1279.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 344.70083047426834, + -1281.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 342.102754262915, + -1282.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 339.5046780515617, + -1284.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 336.9066018402084, + -1285.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 334.3085256288551, + -1287.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 331.71044941750176, + -1288.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 329.11237320614845, + -1290.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 326.51429699479513, + -1291.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 323.9162207834418, + -1293.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 321.3181445720885, + -1294.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 318.7200683607352, + -1296.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 316.12199214938187, + -1297.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 313.52391593802855, + -1299.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 310.92583972667524, + -1300.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 308.3277635153219, + -1302.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 305.7296873039686, + -1303.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 303.1316110926153, + -1305.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 300.53353488126197, + -1306.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.93545866990866, + -1308.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 295.33738245855534, + -1309.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 292.739306247202, + -1311.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 290.1412300358487, + -1312.6517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 287.5431538244954, + -1314.1517263630635, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 287.5431538244954, + -1314.1517263630635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 286.0431538244954, + -1316.749802574417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 284.5431538244954, + -1319.3478787857703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 283.0431538244954, + -1321.9459549971236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 281.5431538244954, + -1324.544031208477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 280.0431538244954, + -1327.1421074198304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 278.5431538244954, + -1329.7401836311838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 277.0431538244954, + -1332.3382598425371, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 275.5431538244954, + -1334.9363360538905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 274.0431538244954, + -1337.5344122652439, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 272.5431538244954, + -1340.1324884765972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 271.0431538244954, + -1342.7305646879506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 269.5431538244954, + -1345.328640899304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 268.0431538244954, + -1347.9267171106574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 266.5431538244954, + -1350.5247933220107, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 266.5431538244954, + -1350.5247933220107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 263.9450776131421, + -1352.0247933220107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 261.34700140178876, + -1353.5247933220107, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-50-51_1779451238/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-50-51_1779451238/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c372f993d32bc72973eae28b28d60ddf9f1d830e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-50-51_1779451238/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 189.12830782132818, + -1463.215590263258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.62830782132818, + -1460.6175140519047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 192.12830782132818, + -1458.0194378405513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.62830782132818, + -1455.421361629198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 195.12830782132818, + -1452.8232854178445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 196.62830782132818, + -1450.2252092064912, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 198.12830782132818, + -1447.6271329951378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 199.62830782132818, + -1445.0290567837844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 201.12830782132818, + -1442.430980572431, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 202.62830782132818, + -1439.8329043610777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 204.12830782132818, + -1437.2348281497243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 205.62830782132818, + -1434.636751938371, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 207.12830782132818, + -1432.0386757270176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 208.62830782132818, + -1429.4405995156642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 210.12830782132818, + -1426.8425233043108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 211.62830782132818, + -1424.2444470929574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 213.12830782132818, + -1421.646370881604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 214.62830782132818, + -1419.0482946702507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 216.12830782132818, + -1416.4502184588973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 217.62830782132818, + -1413.852142247544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 219.12830782132818, + -1411.2540660361906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 220.62830782132818, + -1408.6559898248372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 222.12830782132818, + -1406.0579136134838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 223.62830782132818, + -1403.4598374021305, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 223.62830782132818, + -1403.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.62830782132818, + -1400.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.62830782132818, + -1397.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 223.62830782132818, + -1394.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.62830782132818, + -1391.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.62830782132818, + -1388.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 223.62830782132818, + -1385.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 223.62830782132818, + -1382.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 223.62830782132818, + -1379.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 223.62830782132818, + -1376.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 223.62830782132818, + -1373.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 223.62830782132818, + -1370.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 223.62830782132818, + -1367.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 223.62830782132818, + -1364.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 223.62830782132818, + -1361.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.62830782132818, + -1358.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 223.62830782132818, + -1355.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.62830782132818, + -1352.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 223.62830782132818, + -1349.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 223.62830782132818, + -1346.4598374021305, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 223.62830782132818, + -1346.4598374021305, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 223.62830782132818, + -1346.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 226.2263840326815, + -1344.9598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 228.8244602440348, + -1343.4598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 231.42253645538813, + -1341.9598374021305, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 231.42253645538813, + -1341.9598374021305, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 231.42253645538813, + -1341.9598374021305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 231.42253645538813, + -1338.9598374021305, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-51-50_242474976/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-51-50_242474976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..428ea9cd7a462750514b87c8e31dc95eaab06e90 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-51-50_242474976/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 412.5264560448058, + -1356.0350996084785, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 414.0264560448058, + -1353.4370233971251, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 414.0264560448058, + -1353.4370233971251, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.0264560448058, + -1350.4370233971251, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.0264560448058, + -1350.4370233971251, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 415.5264560448058, + -1347.8389471857718, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 417.0264560448058, + -1345.2408709744184, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 417.0264560448058, + -1345.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 419.6245322561591, + -1343.7408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 422.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 422.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 431.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 434.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 437.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 440.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 440.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 440.22260846751243, + -1342.2408709744184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 441.72260846751243, + -1339.642794763065, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 443.22260846751243, + -1337.0447185517116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 444.72260846751243, + -1334.4466423403583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 446.22260846751243, + -1331.848566129005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 447.72260846751243, + -1329.2504899176515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 449.22260846751243, + -1326.6524137062981, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 450.72260846751243, + -1324.0543374949448, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 452.22260846751243, + -1321.4562612835914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 453.72260846751243, + -1318.858185072238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 455.22260846751243, + -1316.2601088608847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 456.72260846751243, + -1313.6620326495313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 458.22260846751243, + -1311.063956438178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 459.72260846751243, + -1308.4658802268245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.22260846751243, + -1305.8678040154712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 462.72260846751243, + -1303.2697278041178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 464.22260846751243, + -1300.6716515927644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 465.72260846751243, + -1298.073575381411, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 467.22260846751243, + -1295.4754991700577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 468.72260846751243, + -1292.8774229587043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 470.22260846751243, + -1290.279346747351, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 471.72260846751243, + -1287.6812705359976, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 473.22260846751243, + -1285.0831943246442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 474.72260846751243, + -1282.4851181132908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 476.22260846751243, + -1279.8870419019374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 477.72260846751243, + -1277.288965690584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 479.22260846751243, + -1274.6908894792307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 480.72260846751243, + -1272.0928132678773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 482.22260846751243, + -1269.494737056524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 483.72260846751243, + -1266.8966608451706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 485.22260846751243, + -1264.2985846338172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 486.72260846751243, + -1261.7005084224638, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 486.72260846751243, + -1261.7005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 489.32068467886575, + -1260.2005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 491.91876089021906, + -1258.7005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 494.5168371015724, + -1257.2005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 497.1149133129257, + -1255.7005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 499.712989524279, + -1254.2005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 502.3110657356323, + -1252.7005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 504.90914194698564, + -1251.2005084224638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 507.50721815833896, + -1249.7005084224638, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-8-54_849725352/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-8-54_849725352/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b6396715728bb8ad4690b7a06a7368589435f48 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_5-8-54_849725352/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -185.59440944111668, + -1602.5607942141971, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -187.09440944111668, + -1599.9627180028438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -188.59440944111668, + -1597.3646417914904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -190.09440944111668, + -1594.766565580137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -191.59440944111668, + -1592.1684893687836, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -191.59440944111668, + -1592.1684893687836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -194.19248565247, + -1590.6684893687836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -196.7905618638233, + -1589.1684893687836, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.7905618638233, + -1589.1684893687836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -198.2905618638233, + -1586.5704131574303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -199.7905618638233, + -1583.972336946077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -201.2905618638233, + -1581.3742607347235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -202.7905618638233, + -1578.7761845233701, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -204.2905618638233, + -1576.1781083120168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -205.7905618638233, + -1573.5800321006634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -207.2905618638233, + -1570.98195588931, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -208.7905618638233, + -1568.3838796779567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -210.2905618638233, + -1565.7858034666033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -211.7905618638233, + -1563.18772725525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -213.2905618638233, + -1560.5896510438965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -214.7905618638233, + -1557.9915748325432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -216.2905618638233, + -1555.3934986211898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -217.7905618638233, + -1552.7954224098364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -219.2905618638233, + -1550.197346198483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -220.7905618638233, + -1547.5992699871297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -222.2905618638233, + -1545.0011937757763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -223.7905618638233, + -1542.403117564423, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -225.2905618638233, + -1539.8050413530696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -226.7905618638233, + -1537.2069651417162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -228.2905618638233, + -1534.6088889303628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -229.7905618638233, + -1532.0108127190094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -231.2905618638233, + -1529.412736507656, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -232.7905618638233, + -1526.8146602963027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -234.2905618638233, + -1524.2165840849493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -235.7905618638233, + -1521.618507873596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -237.2905618638233, + -1519.0204316622426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -238.7905618638233, + -1516.4223554508892, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -240.2905618638233, + -1513.8242792395358, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -241.7905618638233, + -1511.2262030281825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -243.2905618638233, + -1508.628126816829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -244.7905618638233, + -1506.0300506054757, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -246.2905618638233, + -1503.4319743941223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -247.7905618638233, + -1500.833898182769, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -249.2905618638233, + -1498.2358219714156, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -250.7905618638233, + -1495.6377457600622, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -252.2905618638233, + -1493.0396695487088, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -253.7905618638233, + -1490.4415933373555, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -253.7905618638233, + -1490.4415933373555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -253.7905618638233, + -1487.4415933373555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -253.7905618638233, + -1484.4415933373555, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -253.7905618638233, + -1481.4415933373555, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-15-8_1139352160/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-15-8_1139352160/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79062378646c8c5bceb49010f48ab1b45531d7c1 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-15-8_1139352160/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -47.536276546702766, + -1445.3040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -50.13435275805608, + -1446.8040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -52.7324289694094, + -1448.3040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -55.330505180762714, + -1449.8040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.92858139211603, + -1451.3040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -60.526657603469346, + -1452.8040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -63.12473381482266, + -1454.3040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -65.72281002617598, + -1455.8040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -68.3208862375293, + -1457.3040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -70.91896244888261, + -1458.8040346771786, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -70.91896244888261, + -1458.8040346771786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.41896244888261, + -1461.402110888532, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -73.91896244888261, + -1464.0001870998854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -75.41896244888261, + -1466.5982633112387, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -76.91896244888261, + -1469.196339522592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -78.41896244888261, + -1471.7944157339455, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -79.91896244888261, + -1474.3924919452988, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -81.41896244888261, + -1476.9905681566522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -82.91896244888261, + -1479.5886443680056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -84.41896244888261, + -1482.186720579359, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -85.91896244888261, + -1484.7847967907123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -87.41896244888261, + -1487.3828730020657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -88.91896244888261, + -1489.980949213419, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -90.41896244888261, + -1492.5790254247725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -91.91896244888261, + -1495.1771016361258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -93.41896244888261, + -1497.7751778474792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -94.91896244888261, + -1500.3732540588326, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -94.91896244888261, + -1500.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -97.51703866023593, + -1501.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -100.11511487158924, + -1503.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -102.71319108294256, + -1504.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -105.31126729429587, + -1506.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -107.90934350564919, + -1507.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -110.5074197170025, + -1509.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -113.10549592835582, + -1510.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -115.70357213970914, + -1512.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -118.30164835106245, + -1513.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -120.89972456241577, + -1515.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.49780077376909, + -1516.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -126.0958769851224, + -1518.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.69395319647572, + -1519.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.29202940782903, + -1521.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -133.89010561918235, + -1522.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -136.48818183053567, + -1524.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -139.08625804188898, + -1525.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -141.6843342532423, + -1527.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -144.2824104645956, + -1528.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -146.88048667594893, + -1530.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -149.47856288730225, + -1531.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -152.07663909865556, + -1533.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -154.67471531000888, + -1534.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -157.2727915213622, + -1536.3732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -159.8708677327155, + -1537.8732540588326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -162.46894394406883, + -1539.3732540588326, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-29-54_1107096180/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-29-54_1107096180/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16f03936c1cced03e767aa89be9fc8ebbff29906 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-29-54_1107096180/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -808.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -805.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -802.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -799.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -796.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -796.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -796.3825085536968, + -1764.4822934340966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -794.8825085536968, + -1767.08036964545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -793.3825085536968, + -1769.6784458568034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -791.8825085536968, + -1772.2765220681567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -790.3825085536968, + -1774.87459827951, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -788.8825085536968, + -1777.4726744908635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -787.3825085536968, + -1780.0707507022169, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -787.3825085536968, + -1780.0707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -784.7844323423435, + -1781.5707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -782.1863561309901, + -1783.0707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -779.5882799196368, + -1784.5707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -776.9902037082834, + -1786.0707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.39212749693, + -1787.5707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -771.7940512855766, + -1789.0707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -769.1959750742233, + -1790.5707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -766.5978988628699, + -1792.0707507022169, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -766.5978988628699, + -1792.0707507022169, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -765.0978988628699, + -1794.6688269135702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -763.5978988628699, + -1797.2669031249236, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -762.0978988628699, + -1799.864979336277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -760.5978988628699, + -1802.4630555476303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -759.0978988628699, + -1805.0611317589837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -757.5978988628699, + -1807.659207970337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -756.0978988628699, + -1810.2572841816905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -754.5978988628699, + -1812.8553603930438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -753.0978988628699, + -1815.4534366043972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -751.5978988628699, + -1818.0515128157506, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -750.0978988628699, + -1820.649589027104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -748.5978988628699, + -1823.2476652384573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -747.0978988628699, + -1825.8457414498107, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -745.5978988628699, + -1828.443817661164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -744.0978988628699, + -1831.0418938725174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -742.5978988628699, + -1833.6399700838708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -741.0978988628699, + -1836.2380462952242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -739.5978988628699, + -1838.8361225065776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -738.0978988628699, + -1841.434198717931, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -736.5978988628699, + -1844.0322749292843, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -735.0978988628699, + -1846.6303511406377, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -733.5978988628699, + -1849.228427351991, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -732.0978988628699, + -1851.8265035633444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -730.5978988628699, + -1854.4245797746978, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -729.0978988628699, + -1857.0226559860512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -727.5978988628699, + -1859.6207321974045, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -726.0978988628699, + -1862.218808408758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -724.5978988628699, + -1864.8168846201113, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -723.0978988628699, + -1867.4149608314647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -721.5978988628699, + -1870.013037042818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -720.0978988628699, + -1872.6111132541714, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-30-25_692458743/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-30-25_692458743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c568c8f0c93b78d34ed74a02265a3776cfd66b64 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-30-25_692458743/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -71.20457391320882, + -1447.9889621374248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -72.70457391320882, + -1450.5870383487782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -74.20457391320882, + -1453.1851145601315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -75.70457391320882, + -1455.783190771485, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -77.20457391320882, + -1458.3812669828383, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -78.70457391320882, + -1460.9793431941916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -80.20457391320882, + -1463.577419405545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.70457391320882, + -1466.1754956168984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -83.20457391320882, + -1468.7735718282518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -84.70457391320882, + -1471.3716480396051, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -86.20457391320882, + -1473.9697242509585, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -87.70457391320882, + -1476.5678004623119, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -89.20457391320882, + -1479.1658766736653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -90.70457391320882, + -1481.7639528850186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -92.20457391320882, + -1484.362029096372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -93.70457391320882, + -1486.9601053077254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -95.20457391320882, + -1489.5581815190787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -96.70457391320882, + -1492.1562577304321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -98.20457391320882, + -1494.7543339417855, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -98.20457391320882, + -1494.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -100.80265012456213, + -1496.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -103.40072633591545, + -1497.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -105.99880254726877, + -1499.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -108.59687875862208, + -1500.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -111.1949549699754, + -1502.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -113.79303118132871, + -1503.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -116.39110739268203, + -1505.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -118.98918360403535, + -1506.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -121.58725981538866, + -1508.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -124.18533602674198, + -1509.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -126.7834122380953, + -1511.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -129.38148844944863, + -1512.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -131.97956466080194, + -1514.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -134.57764087215526, + -1515.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -137.17571708350857, + -1517.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -139.7737932948619, + -1518.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -142.3718695062152, + -1520.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -144.96994571756852, + -1521.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -147.56802192892184, + -1523.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -150.16609814027515, + -1524.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -152.76417435162847, + -1526.2543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -155.36225056298179, + -1527.7543339417855, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -155.36225056298179, + -1527.7543339417855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -156.86225056298179, + -1530.3524101531389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -158.36225056298179, + -1532.9504863644922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -159.86225056298179, + -1535.5485625758456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.36225056298179, + -1538.146638787199, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-2_1947691087/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-2_1947691087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8abcf0fbd638cd806b78b46d7224c014f181136f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-2_1947691087/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -958.645457012881, + -2781.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -958.645457012881, + -2784.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -958.645457012881, + -2787.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -958.645457012881, + -2790.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -958.645457012881, + -2793.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -958.645457012881, + -2796.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -958.645457012881, + -2799.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -958.645457012881, + -2802.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -958.645457012881, + -2805.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -958.645457012881, + -2808.7684270111426, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.645457012881, + -2808.7684270111426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -957.145457012881, + -2811.366503222496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -955.645457012881, + -2813.964579433849, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -954.145457012881, + -2816.562655645202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -952.645457012881, + -2819.1607318565552, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -951.145457012881, + -2821.7588080679084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -949.645457012881, + -2824.3568842792615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -948.145457012881, + -2826.9549604906147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -946.645457012881, + -2829.553036701968, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -945.145457012881, + -2832.151112913321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -943.645457012881, + -2834.749189124674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -942.145457012881, + -2837.3472653360272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -940.645457012881, + -2839.9453415473804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -939.145457012881, + -2842.5434177587335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -937.645457012881, + -2845.1414939700867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -936.145457012881, + -2847.73957018144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -934.645457012881, + -2850.337646392793, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -934.645457012881, + -2850.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -934.645457012881, + -2853.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -934.645457012881, + -2856.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -934.645457012881, + -2859.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -934.645457012881, + -2862.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -934.645457012881, + -2865.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -934.645457012881, + -2868.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -934.645457012881, + -2871.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -934.645457012881, + -2874.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -934.645457012881, + -2877.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -934.645457012881, + -2880.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -934.645457012881, + -2883.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -934.645457012881, + -2886.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -934.645457012881, + -2889.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -934.645457012881, + -2892.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -934.645457012881, + -2895.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -934.645457012881, + -2898.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -934.645457012881, + -2901.337646392793, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -934.645457012881, + -2901.337646392793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -936.145457012881, + -2903.935722604146, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -937.645457012881, + -2906.5337988154993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -939.145457012881, + -2909.1318750268524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -940.645457012881, + -2911.7299512382056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -942.145457012881, + -2914.3280274495587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -943.645457012881, + -2916.926103660912, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-30_245240853/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-30_245240853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46202186c327f405d357e60cce6be1babef1c096 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-30_245240853/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 404.98766198079966, + -1368.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.38958576944634, + -1370.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.791509558093, + -1371.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 397.1934333467397, + -1373.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 394.5953571353864, + -1374.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 391.9972809240331, + -1376.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.39920471267976, + -1377.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 386.80112850132645, + -1379.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 384.20305228997313, + -1380.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 381.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 381.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 378.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 375.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 372.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 369.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 366.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 363.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 357.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 354.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 351.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 348.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 345.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 342.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 339.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 336.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 333.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 330.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 327.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 324.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 321.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 318.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 315.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 312.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 309.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 303.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 300.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 291.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 288.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 285.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 282.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 279.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 279.6049760786198, + -1382.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 277.0068998672665, + -1380.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 274.4088236559132, + -1379.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.81074744455987, + -1377.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 269.21267123320655, + -1376.2981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 266.61459502185323, + -1374.7981888355919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 264.0165188104999, + -1373.2981888355919, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-58_100669/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-58_100669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fb9970c25f9ab05713f9e3073138cb51dae10a5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-59-58_100669/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -942.9538080560151, + -2776.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -942.9538080560151, + -2779.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -942.9538080560151, + -2782.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -942.9538080560151, + -2785.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -942.9538080560151, + -2788.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -942.9538080560151, + -2791.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -942.9538080560151, + -2794.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -942.9538080560151, + -2797.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -942.9538080560151, + -2800.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -942.9538080560151, + -2803.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -942.9538080560151, + -2806.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -942.9538080560151, + -2809.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -942.9538080560151, + -2812.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -942.9538080560151, + -2815.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -942.9538080560151, + -2818.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -942.9538080560151, + -2821.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -942.9538080560151, + -2824.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -942.9538080560151, + -2827.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -942.9538080560151, + -2830.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -942.9538080560151, + -2833.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -942.9538080560151, + -2836.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -942.9538080560151, + -2839.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -942.9538080560151, + -2842.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.9538080560151, + -2845.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -942.9538080560151, + -2848.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -942.9538080560151, + -2851.8848338035527, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -942.9538080560151, + -2851.8848338035527, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.4538080560151, + -2854.482910014906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -939.9538080560151, + -2857.080986226259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -938.4538080560151, + -2859.679062437612, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -936.9538080560151, + -2862.2771386489653, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -935.4538080560151, + -2864.8752148603185, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -933.9538080560151, + -2867.4732910716716, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -933.9538080560151, + -2867.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -933.9538080560151, + -2870.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -933.9538080560151, + -2873.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -933.9538080560151, + -2876.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -933.9538080560151, + -2879.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -933.9538080560151, + -2882.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -933.9538080560151, + -2885.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -933.9538080560151, + -2888.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -933.9538080560151, + -2891.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -933.9538080560151, + -2894.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -933.9538080560151, + -2897.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -933.9538080560151, + -2900.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -933.9538080560151, + -2903.4732910716716, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -933.9538080560151, + -2903.4732910716716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -935.4538080560151, + -2906.0713672830248, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -936.9538080560151, + -2908.669443494378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -938.4538080560151, + -2911.267519705731, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -939.9538080560151, + -2913.865595917084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -941.4538080560151, + -2916.4636721284373, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-8-25_717293418/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-8-25_717293418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..680647cc718b4b2f47fec429d2ed82b01452a9b4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_6-8-25_717293418/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.55271396258695, + -1297.6378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 377.95463775123363, + -1299.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 375.3565615398803, + -1300.6378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 372.758485328527, + -1302.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 370.1604091171737, + -1303.6378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 367.56233290582037, + -1305.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 364.96425669446705, + -1306.6378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 362.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 362.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 359.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 356.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 353.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 350.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 347.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 344.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 341.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 338.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 335.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 332.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 329.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 323.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 320.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 314.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 311.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.36618048311374, + -1308.1378881028436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 309.86618048311374, + -1310.735964314197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 308.36618048311374, + -1313.3340405255503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 306.86618048311374, + -1315.9321167369037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 305.36618048311374, + -1318.530192948257, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 303.86618048311374, + -1321.1282691596105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 302.36618048311374, + -1323.7263453709638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 300.86618048311374, + -1326.3244215823172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 299.36618048311374, + -1328.9224977936706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 297.86618048311374, + -1331.520574005024, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 296.36618048311374, + -1334.1186502163773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 294.86618048311374, + -1336.7167264277307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 293.36618048311374, + -1339.314802639084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 291.86618048311374, + -1341.9128788504374, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 291.86618048311374, + -1341.9128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 289.2681042717604, + -1343.4128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 286.6700280604071, + -1344.9128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 284.0719518490538, + -1346.4128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 281.4738756377005, + -1347.9128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 278.87579942634716, + -1349.4128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 276.27772321499384, + -1350.9128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 273.6796470036405, + -1352.4128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 271.0815707922872, + -1353.9128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 268.4834945809339, + -1355.4128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 265.8854183695806, + -1356.9128788504374, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 263.28734215822726, + -1358.4128788504374, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-3-38_1028363610/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-3-38_1028363610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..751d0c73d602d7bd928f20a51728eb07b9c8b005 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-3-38_1028363610/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 392.33119455688643, + -1315.786152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 394.92927076823975, + -1314.286152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 397.52734697959306, + -1312.786152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.1254231909464, + -1311.286152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.7234994022997, + -1309.786152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.321575613653, + -1308.286152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 407.9196518250063, + -1306.786152921609, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 407.9196518250063, + -1306.786152921609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 409.4196518250063, + -1304.1880767102557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 410.9196518250063, + -1301.5900004989023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 412.4196518250063, + -1298.991924287549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.9196518250063, + -1296.3938480761956, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 415.4196518250063, + -1293.7957718648422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 416.9196518250063, + -1291.1976956534888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 418.4196518250063, + -1288.5996194421355, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 418.4196518250063, + -1288.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 421.01772803635964, + -1287.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 423.61580424771296, + -1285.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 426.2138804590663, + -1284.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 428.8119566704196, + -1282.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 431.4100328817729, + -1281.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 434.0081090931262, + -1279.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.60618530447954, + -1278.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 439.20426151583285, + -1276.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 441.80233772718617, + -1275.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 444.4004139385395, + -1273.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 446.9984901498928, + -1272.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 449.5965663612461, + -1270.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 452.19464257259943, + -1269.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 454.79271878395275, + -1267.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 457.39079499530607, + -1266.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 459.9888712066594, + -1264.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 462.5869474180127, + -1263.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 465.185023629366, + -1261.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 467.78309984071933, + -1260.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 470.38117605207265, + -1258.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 472.97925226342596, + -1257.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 475.5773284747793, + -1255.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 478.1754046861326, + -1254.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 480.7734808974859, + -1252.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 483.3715571088392, + -1251.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 485.96963332019254, + -1249.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 488.56770953154586, + -1248.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 491.1657857428992, + -1246.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 493.7638619542525, + -1245.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 496.3619381656058, + -1243.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 498.9600143769591, + -1242.0996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 501.55809058831244, + -1240.5996194421355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 504.15616679966575, + -1239.0996194421355, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-50-35_1033206202/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-50-35_1033206202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c02c59847061dd28120f82d85879c150bfca89f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-50-35_1033206202/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -157.38432756178275, + -1562.682367808475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -157.38432756178275, + -1559.682367808475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -157.38432756178275, + -1556.682367808475, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -157.38432756178275, + -1556.682367808475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.88432756178275, + -1554.0842915971216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -160.38432756178275, + -1551.4862153857682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -161.88432756178275, + -1548.8881391744148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -163.38432756178275, + -1546.2900629630615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -164.88432756178275, + -1543.691986751708, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -166.38432756178275, + -1541.0939105403547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -167.88432756178275, + -1538.4958343290014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -169.38432756178275, + -1535.897758117648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.88432756178275, + -1533.2996819062946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -172.38432756178275, + -1530.7016056949412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -173.88432756178275, + -1528.1035294835879, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -175.38432756178275, + -1525.5054532722345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.88432756178275, + -1522.9073770608811, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -178.38432756178275, + -1520.3093008495277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.88432756178275, + -1517.7112246381744, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -181.38432756178275, + -1515.113148426821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -182.88432756178275, + -1512.5150722154676, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -182.88432756178275, + -1512.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -185.48240377313607, + -1511.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -188.0804799844894, + -1509.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -190.6785561958427, + -1508.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -193.27663240719602, + -1506.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -195.87470861854933, + -1505.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -198.47278482990265, + -1503.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -201.07086104125597, + -1502.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -203.66893725260928, + -1500.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -206.2670134639626, + -1499.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -208.86508967531591, + -1497.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -211.46316588666923, + -1496.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -214.06124209802255, + -1494.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -216.65931830937586, + -1493.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -219.25739452072918, + -1491.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -221.8554707320825, + -1490.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -224.4535469434358, + -1488.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -227.05162315478913, + -1487.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -229.64969936614244, + -1485.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -232.24777557749576, + -1484.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -234.84585178884907, + -1482.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -237.4439280002024, + -1481.0150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -240.0420042115557, + -1479.5150722154676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -242.64008042290902, + -1478.0150722154676, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-58-20_1608340634/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-58-20_1608340634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbfbc02ccf172a881dccb463f7b601efa9c88b42 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-58-20_1608340634/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -811.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -808.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -805.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -802.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -799.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -799.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -799.3527594281371, + -1761.5237889410034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -797.8527594281371, + -1764.1218651523568, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -796.3527594281371, + -1766.7199413637102, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -794.8527594281371, + -1769.3180175750635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -793.3527594281371, + -1771.916093786417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -791.8527594281371, + -1774.5141699977703, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -790.3527594281371, + -1777.1122462091237, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -788.8527594281371, + -1779.710322420477, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -788.8527594281371, + -1779.710322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -786.2546832167839, + -1781.210322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -783.6566070054305, + -1782.710322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.0585307940771, + -1784.210322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -778.4604545827237, + -1785.710322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -775.8623783713704, + -1787.210322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -773.264302160017, + -1788.710322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -770.6662259486636, + -1790.210322420477, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -770.6662259486636, + -1790.210322420477, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -769.1662259486636, + -1792.8083986318304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -767.6662259486636, + -1795.4064748431838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -766.1662259486636, + -1798.0045510545372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -764.6662259486636, + -1800.6026272658905, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -763.1662259486636, + -1803.200703477244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -761.6662259486636, + -1805.7987796885973, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -760.1662259486636, + -1808.3968558999507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -758.6662259486636, + -1810.994932111304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -757.1662259486636, + -1813.5930083226574, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -755.6662259486636, + -1816.1910845340108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -754.1662259486636, + -1818.7891607453641, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -752.6662259486636, + -1821.3872369567175, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -751.1662259486636, + -1823.985313168071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -749.6662259486636, + -1826.5833893794243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -748.1662259486636, + -1829.1814655907776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -746.6662259486636, + -1831.779541802131, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -745.1662259486636, + -1834.3776180134844, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -743.6662259486636, + -1836.9756942248378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -742.1662259486636, + -1839.5737704361911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -740.6662259486636, + -1842.1718466475445, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -739.1662259486636, + -1844.7699228588979, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -737.6662259486636, + -1847.3679990702512, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -736.1662259486636, + -1849.9660752816046, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -734.6662259486636, + -1852.564151492958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -733.1662259486636, + -1855.1622277043114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -731.6662259486636, + -1857.7603039156647, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -730.1662259486636, + -1860.358380127018, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -728.6662259486636, + -1862.9564563383715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -727.1662259486636, + -1865.5545325497249, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -725.6662259486636, + -1868.1526087610782, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -724.1662259486636, + -1870.7506849724316, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -722.6662259486636, + -1873.348761183785, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-9-9_703571522/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-9-9_703571522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2729bf82367533c768741708c81bd1c75b7e8bbe --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_7-9-9_703571522/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -813.789184010126, + -1789.1440843211253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -812.289184010126, + -1791.7421605324787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -810.789184010126, + -1794.340236743832, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.289184010126, + -1796.9383129551854, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.789184010126, + -1799.5363891665388, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.289184010126, + -1802.1344653778922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -804.789184010126, + -1804.7325415892456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -803.289184010126, + -1807.330617800599, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.789184010126, + -1809.9286940119523, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.289184010126, + -1812.5267702233057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -798.789184010126, + -1815.124846434659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.289184010126, + -1817.7229226460124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -795.789184010126, + -1820.3209988573658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -794.289184010126, + -1822.9190750687192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -792.789184010126, + -1825.5171512800725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -791.289184010126, + -1828.115227491426, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -789.789184010126, + -1830.7133037027793, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -789.789184010126, + -1830.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -787.1911077987727, + -1832.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.5930315874193, + -1833.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -781.994955376066, + -1835.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -779.3968791647126, + -1836.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -776.7988029533592, + -1838.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -774.2007267420058, + -1839.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -771.6026505306525, + -1841.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -769.0045743192991, + -1842.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -766.4064981079457, + -1844.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -763.8084218965923, + -1845.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -761.210345685239, + -1847.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -758.6122694738856, + -1848.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -756.0141932625322, + -1850.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -753.4161170511788, + -1851.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -750.8180408398255, + -1853.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -748.2199646284721, + -1854.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -745.6218884171187, + -1856.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -743.0238122057654, + -1857.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -740.425735994412, + -1859.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -737.8276597830586, + -1860.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -735.2295835717052, + -1862.2133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -732.6315073603519, + -1863.7133037027793, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -732.6315073603519, + -1863.7133037027793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -731.1315073603519, + -1866.3113799141327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -729.6315073603519, + -1868.909456125486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -728.1315073603519, + -1871.5075323368394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -726.6315073603519, + -1874.1056085481928, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-11-47_1101533292/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-11-47_1101533292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dce10a8e8d589713a181b85d44d0a75357b8a54 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-11-47_1101533292/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.9261466266432, + -1294.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 378.32807041528986, + -1296.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 375.72999420393654, + -1297.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 373.1319179925832, + -1299.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 370.5338417812299, + -1300.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 367.9357655698766, + -1302.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 365.3376893585233, + -1303.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 362.73961314716996, + -1305.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 360.14153693581665, + -1306.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 357.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 357.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 354.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 351.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 348.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 345.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 339.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 336.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 333.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 330.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 312.54346072446333, + -1308.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 309.94538451311, + -1309.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 307.3473083017567, + -1311.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.7492320904034, + -1312.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 302.15115587905007, + -1314.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 299.55307966769675, + -1315.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 296.95500345634343, + -1317.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.3569272449901, + -1318.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 291.7588510336368, + -1320.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 289.1607748222835, + -1321.5211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 286.56269861093017, + -1323.0211271646056, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 286.56269861093017, + -1323.0211271646056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 285.06269861093017, + -1325.619203375959, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 283.56269861093017, + -1328.2172795873123, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 282.06269861093017, + -1330.8153557986657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 280.56269861093017, + -1333.413432010019, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 279.06269861093017, + -1336.0115082213724, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 277.56269861093017, + -1338.6095844327258, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 276.06269861093017, + -1341.2076606440792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 274.56269861093017, + -1343.8057368554325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 273.06269861093017, + -1346.403813066786, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 271.56269861093017, + -1349.0018892781393, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 270.06269861093017, + -1351.5999654894927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 268.56269861093017, + -1354.198041700846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 267.06269861093017, + -1356.7961179121994, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 265.56269861093017, + -1359.3941941235528, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-16-31_1727952741/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-16-31_1727952741/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..676a17980755aede1653b08ee7378be1af727e47 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-16-31_1727952741/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -291.64533572725304, + -1432.7599552508761, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -290.14533572725304, + -1435.3580314622295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -288.64533572725304, + -1437.956107673583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -287.14533572725304, + -1440.5541838849363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -285.64533572725304, + -1443.1522600962896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -284.14533572725304, + -1445.750336307643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.64533572725304, + -1448.3484125189964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -281.14533572725304, + -1450.9464887303498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -279.64533572725304, + -1453.5445649417031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -278.14533572725304, + -1456.1426411530565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -276.64533572725304, + -1458.7407173644099, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -275.14533572725304, + -1461.3387935757632, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -273.64533572725304, + -1463.9368697871166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -272.14533572725304, + -1466.53494599847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -270.64533572725304, + -1469.1330222098234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -269.14533572725304, + -1471.7310984211767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -267.64533572725304, + -1474.32917463253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -266.14533572725304, + -1476.9272508438835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -264.64533572725304, + -1479.5253270552369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -263.14533572725304, + -1482.1234032665902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.64533572725304, + -1484.7214794779436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -260.14533572725304, + -1487.319555689297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -258.64533572725304, + -1489.9176319006503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -257.14533572725304, + -1492.5157081120037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -255.64533572725304, + -1495.113784323357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -254.14533572725304, + -1497.7118605347105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -252.64533572725304, + -1500.3099367460638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -251.14533572725304, + -1502.9080129574172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -249.64533572725304, + -1505.5060891687706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -248.14533572725304, + -1508.104165380124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -246.64533572725304, + -1510.7022415914773, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -246.64533572725304, + -1510.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -244.04725951589973, + -1512.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.4491833045464, + -1513.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -238.8511070931931, + -1515.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -236.25303088183978, + -1516.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -233.65495467048646, + -1518.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -231.05687845913315, + -1519.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -228.45880224777983, + -1521.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -225.8607260364265, + -1522.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -223.2626498250732, + -1524.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -220.66457361371988, + -1525.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -218.06649740236656, + -1527.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -215.46842119101325, + -1528.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -212.87034497965993, + -1530.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -210.27226876830662, + -1531.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -207.6741925569533, + -1533.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -205.07611634559998, + -1534.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -202.47804013424667, + -1536.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -199.87996392289335, + -1537.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -197.28188771154004, + -1539.2022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -194.68381150018672, + -1540.7022415914773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -192.0857352888334, + -1542.2022415914773, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-22-8_457676440/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-22-8_457676440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2abdea5142f728671e15be3589528c400fe9aa9c --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-22-8_457676440/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -677.6460687707337, + -1780.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.6460687707337, + -1783.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -677.6460687707337, + -1786.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -677.6460687707337, + -1789.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -677.6460687707337, + -1792.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.6460687707337, + -1795.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.6460687707337, + -1798.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.6460687707337, + -1801.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -677.6460687707337, + -1804.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -677.6460687707337, + -1807.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -677.6460687707337, + -1810.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.6460687707337, + -1813.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -677.6460687707337, + -1816.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.6460687707337, + -1819.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.6460687707337, + -1822.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.6460687707337, + -1825.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.6460687707337, + -1828.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -677.6460687707337, + -1831.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -677.6460687707337, + -1834.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.6460687707337, + -1837.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -677.6460687707337, + -1840.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.6460687707337, + -1843.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -677.6460687707337, + -1846.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.6460687707337, + -1849.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.6460687707337, + -1852.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -677.6460687707337, + -1855.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -677.6460687707337, + -1858.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -677.6460687707337, + -1861.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -677.6460687707337, + -1864.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -677.6460687707337, + -1867.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -677.6460687707337, + -1870.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -677.6460687707337, + -1873.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -677.6460687707337, + -1876.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -677.6460687707337, + -1879.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -677.6460687707337, + -1882.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -677.6460687707337, + -1885.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -677.6460687707337, + -1888.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -677.6460687707337, + -1891.895807014755, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -677.6460687707337, + -1891.895807014755, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -677.6460687707337, + -1891.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -680.2441449820869, + -1893.395807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -682.8422211934403, + -1894.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -685.4402974047937, + -1896.395807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -688.038373616147, + -1897.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -690.6364498275004, + -1899.395807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -693.2345260388538, + -1900.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -695.8326022502072, + -1902.395807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -698.4306784615605, + -1903.895807014755, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -698.4306784615605, + -1903.895807014755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -699.9306784615605, + -1906.4938832261084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -701.4306784615605, + -1909.0919594374618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -702.9306784615605, + -1911.6900356488152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -704.4306784615605, + -1914.2881118601686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -705.9306784615605, + -1916.886188071522, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -707.4306784615605, + -1919.4842642828753, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-24-26_1221389873/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-24-26_1221389873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..639b0a4320b716ed0fe48d1d943e5fb871a6b024 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-24-26_1221389873/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 202.6762341961787, + -1462.070786031165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 204.1762341961787, + -1459.4727098198116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 205.6762341961787, + -1456.8746336084582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 207.1762341961787, + -1454.2765573971049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 208.6762341961787, + -1451.6784811857515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 210.1762341961787, + -1449.080404974398, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 211.6762341961787, + -1446.4823287630447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 213.1762341961787, + -1443.8842525516914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 214.6762341961787, + -1441.286176340338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 216.1762341961787, + -1438.6881001289846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 217.6762341961787, + -1436.0900239176312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 219.1762341961787, + -1433.4919477062779, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 220.6762341961787, + -1430.8938714949245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 222.1762341961787, + -1428.2957952835711, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 222.1762341961787, + -1428.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 222.1762341961787, + -1425.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 222.1762341961787, + -1422.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.1762341961787, + -1419.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 222.1762341961787, + -1416.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 222.1762341961787, + -1413.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.1762341961787, + -1410.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 222.1762341961787, + -1407.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 222.1762341961787, + -1404.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 222.1762341961787, + -1401.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 222.1762341961787, + -1398.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.1762341961787, + -1395.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 222.1762341961787, + -1392.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 222.1762341961787, + -1389.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 222.1762341961787, + -1386.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 222.1762341961787, + -1383.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 222.1762341961787, + -1380.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 222.1762341961787, + -1377.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 222.1762341961787, + -1374.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 222.1762341961787, + -1371.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 222.1762341961787, + -1368.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 222.1762341961787, + -1365.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 222.1762341961787, + -1362.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 222.1762341961787, + -1359.2957952835711, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 222.1762341961787, + -1359.2957952835711, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.6762341961787, + -1356.6977190722178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 225.1762341961787, + -1354.0996428608644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 226.6762341961787, + -1351.501566649511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 228.1762341961787, + -1348.9034904381576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 229.6762341961787, + -1346.3054142268043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 231.1762341961787, + -1343.707338015451, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 232.6762341961787, + -1341.1092618040975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 234.1762341961787, + -1338.5111855927441, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-28-36_1114646704/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-28-36_1114646704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..462b223b18a9cf0b719b1f8d162646620a8f5393 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-28-36_1114646704/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.8693573820781, + -1309.9793452566068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.8693573820781, + -1309.9793452566068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 405.8693573820781, + -1309.9793452566068, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 405.8693573820781, + -1309.9793452566068, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.8693573820781, + -1309.9793452566068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 407.3693573820781, + -1307.3812690452535, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.8693573820781, + -1304.7831928339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 410.3693573820781, + -1302.1851166225467, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 411.8693573820781, + -1299.5870404111934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.3693573820781, + -1296.98896419984, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 414.8693573820781, + -1294.3908879884866, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 414.8693573820781, + -1294.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 417.4674335934314, + -1292.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 420.0655098047847, + -1291.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 422.663586016138, + -1289.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 425.26166222749134, + -1288.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 427.85973843884466, + -1286.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 430.457814650198, + -1285.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 433.0558908615513, + -1283.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 435.6539670729046, + -1282.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.2520432842579, + -1280.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 440.85011949561124, + -1279.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 443.44819570696455, + -1277.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 446.04627191831787, + -1276.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 448.6443481296712, + -1274.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 451.2424243410245, + -1273.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 453.8405005523778, + -1271.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 456.43857676373113, + -1270.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 459.03665297508445, + -1268.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 461.63472918643777, + -1267.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 464.2328053977911, + -1265.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 466.8308816091444, + -1264.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 469.4289578204977, + -1262.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 472.02703403185103, + -1261.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 474.62511024320435, + -1259.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 477.22318645455766, + -1258.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 479.821262665911, + -1256.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 482.4193388772643, + -1255.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 485.0174150886176, + -1253.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 487.6154912999709, + -1252.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 490.21356751132424, + -1250.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 492.81164372267756, + -1249.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 495.4097199340309, + -1247.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 498.0077961453842, + -1246.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 500.6058723567375, + -1244.8908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 503.2039485680908, + -1243.3908879884866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 505.80202477944414, + -1241.8908879884866, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-28-7_2089816339/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-28-7_2089816339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e1c14030c5eba5c20f5ea43f3c3ec09a9766a40 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-28-7_2089816339/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 385.17304996460143, + -1272.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 382.5749737532481, + -1273.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 379.9768975418948, + -1275.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 377.3788213305415, + -1276.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 374.78074511918817, + -1278.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 372.18266890783485, + -1279.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 369.58459269648154, + -1281.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 366.9865164851282, + -1282.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 364.3884402737749, + -1284.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 361.7903640624216, + -1285.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 359.1922878510683, + -1287.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 356.59421163971496, + -1288.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 353.99613542836164, + -1290.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 351.3980592170083, + -1291.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 348.799983005655, + -1293.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 346.2019067943017, + -1294.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 343.6038305829484, + -1296.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 341.00575437159506, + -1297.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 338.40767816024174, + -1299.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 335.8096019488884, + -1300.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 333.2115257375351, + -1302.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.6134495261818, + -1303.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 328.0153733148285, + -1305.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 325.41729710347516, + -1306.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 322.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 322.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 319.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 316.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 313.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 310.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.81922089212185, + -1308.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 308.22114468076853, + -1309.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.6230684694152, + -1311.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 303.0249922580619, + -1312.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 300.4269160467086, + -1314.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 297.82883983535527, + -1315.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 295.23076362400195, + -1317.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 292.63268741264864, + -1318.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 290.0346112012953, + -1320.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 287.436534989942, + -1321.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 284.8384587785887, + -1323.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 282.2403825672354, + -1324.7029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 279.64230635588206, + -1326.2029972685125, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 279.64230635588206, + -1326.2029972685125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 278.14230635588206, + -1328.8010734798659, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 276.64230635588206, + -1331.3991496912192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 275.14230635588206, + -1333.9972259025726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.64230635588206, + -1336.595302113926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 272.14230635588206, + -1339.1933783252794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 270.64230635588206, + -1341.7914545366327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 269.14230635588206, + -1344.389530747986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 267.64230635588206, + -1346.9876069593395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 266.14230635588206, + -1349.5856831706928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 264.64230635588206, + -1352.1837593820462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 263.14230635588206, + -1354.7818355933996, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-30-19_1017565625/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-30-19_1017565625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..754f80e18166cfa7261b0da27acab7225da56b23 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-30-19_1017565625/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 15.171395274988946, + -1529.927740229376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 16.671395274988946, + -1532.5258164407294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 18.171395274988946, + -1535.1238926520828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 19.671395274988946, + -1537.7219688634361, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 21.171395274988946, + -1540.3200450747895, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 22.671395274988946, + -1542.9181212861429, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 24.171395274988946, + -1545.5161974974963, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 25.671395274988946, + -1548.1142737088496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 27.171395274988946, + -1550.712349920203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 28.671395274988946, + -1553.3104261315564, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 30.171395274988946, + -1555.9085023429097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 31.671395274988946, + -1558.5065785542631, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 33.171395274988946, + -1561.1046547656165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 34.671395274988946, + -1563.7027309769699, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 36.171395274988946, + -1566.3008071883232, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 37.671395274988946, + -1568.8988833996766, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 39.171395274988946, + -1571.49695961103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 40.671395274988946, + -1574.0950358223834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 42.171395274988946, + -1576.6931120337367, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 42.171395274988946, + -1576.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 42.171395274988946, + -1579.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.171395274988946, + -1582.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.171395274988946, + -1585.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.171395274988946, + -1588.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.171395274988946, + -1591.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.171395274988946, + -1594.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.171395274988946, + -1597.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 42.171395274988946, + -1600.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 42.171395274988946, + -1603.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 42.171395274988946, + -1606.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 42.171395274988946, + -1609.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 42.171395274988946, + -1612.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 42.171395274988946, + -1615.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 42.171395274988946, + -1618.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 42.171395274988946, + -1621.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 42.171395274988946, + -1624.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 42.171395274988946, + -1627.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 42.171395274988946, + -1630.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 42.171395274988946, + -1633.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 42.171395274988946, + -1636.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 42.171395274988946, + -1639.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 42.171395274988946, + -1642.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 42.171395274988946, + -1645.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 42.171395274988946, + -1648.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 42.171395274988946, + -1651.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 42.171395274988946, + -1654.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 42.171395274988946, + -1657.6931120337367, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 42.171395274988946, + -1657.6931120337367, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 43.671395274988946, + -1660.29118824509, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 45.171395274988946, + -1662.8892644564435, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 45.171395274988946, + -1662.8892644564435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 47.76947148634226, + -1664.3892644564435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 50.36754769769558, + -1665.8892644564435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 52.965623909048894, + -1667.3892644564435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 55.56370012040221, + -1668.8892644564435, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 58.161776331755526, + -1670.3892644564435, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-36-48_753959819/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-36-48_753959819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d144acd6f0241977e32c5a22ad19f86b26204b1f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-36-48_753959819/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.86424656476254, + -1465.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 388.2661703534092, + -1467.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 385.6680941420559, + -1468.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 383.0700179307026, + -1470.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.4719417193493, + -1471.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 377.87386550799596, + -1473.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 375.27578929664264, + -1474.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 372.6777130852893, + -1476.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 370.079636873936, + -1477.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 367.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 367.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 364.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 361.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 358.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 355.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 352.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 349.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 346.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 343.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 340.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 337.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 334.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 334.4815606625827, + -1479.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.8834844512294, + -1480.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 329.28540823987606, + -1482.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.68733202852275, + -1483.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 324.08925581716943, + -1485.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 321.4911796058161, + -1486.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 318.8931033944628, + -1488.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 316.2950271831095, + -1489.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 313.69695097175617, + -1491.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 311.09887476040285, + -1492.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 308.50079854904953, + -1494.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 305.9027223376962, + -1495.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.3046461263429, + -1497.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.7065699149896, + -1498.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 298.10849370363627, + -1500.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 295.51041749228295, + -1501.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.91234128092964, + -1503.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 290.3142650695763, + -1504.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 287.716188858223, + -1506.3133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 285.1181126468697, + -1507.8133885856014, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 285.1181126468697, + -1507.8133885856014, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 283.6181126468697, + -1510.4114647969548, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.1181126468697, + -1513.0095410083081, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 280.6181126468697, + -1515.6076172196615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 279.1181126468697, + -1518.2056934310149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 277.6181126468697, + -1520.8037696423683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 276.1181126468697, + -1523.4018458537216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 274.6181126468697, + -1525.999922065075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.1181126468697, + -1528.5979982764284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 271.6181126468697, + -1531.1960744877817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 270.1181126468697, + -1533.7941506991351, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 268.6181126468697, + -1536.3922269104885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 267.1181126468697, + -1538.9903031218419, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 265.6181126468697, + -1541.5883793331952, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-42-57_2145854098/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-42-57_2145854098/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23d6fbfe668649d759cbf84ab50077c2221e8a99 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-42-57_2145854098/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -977.9887475917717, + -2785.655157075128, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -976.4887475917717, + -2788.253233286481, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -974.9887475917717, + -2790.8513094978343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -973.4887475917717, + -2793.4493857091875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -971.9887475917717, + -2796.0474619205406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -970.4887475917717, + -2798.6455381318938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -968.9887475917717, + -2801.243614343247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -967.4887475917717, + -2803.8416905546, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -965.9887475917717, + -2806.439766765953, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -965.9887475917717, + -2806.439766765953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -963.3906713804183, + -2807.939766765953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -960.792595169065, + -2809.439766765953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -958.1945189577116, + -2810.939766765953, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.1945189577116, + -2810.939766765953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -956.6945189577116, + -2813.5378429773064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -955.1945189577116, + -2816.1359191886595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -953.6945189577116, + -2818.7339954000126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.1945189577116, + -2821.332071611366, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -950.6945189577116, + -2823.930147822719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -949.1945189577116, + -2826.528224034072, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -947.6945189577116, + -2829.1263002454252, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -946.1945189577116, + -2831.7243764567784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -944.6945189577116, + -2834.3224526681315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.1945189577116, + -2836.9205288794847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -941.6945189577116, + -2839.518605090838, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -940.1945189577116, + -2842.116681302191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -938.6945189577116, + -2844.714757513544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -937.1945189577116, + -2847.3128337248972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -935.6945189577116, + -2849.9109099362504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -934.1945189577116, + -2852.5089861476035, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -934.1945189577116, + -2852.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -934.1945189577116, + -2855.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -934.1945189577116, + -2858.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -934.1945189577116, + -2861.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -934.1945189577116, + -2864.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -934.1945189577116, + -2867.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -934.1945189577116, + -2870.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -934.1945189577116, + -2873.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -934.1945189577116, + -2876.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -934.1945189577116, + -2879.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -934.1945189577116, + -2882.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -934.1945189577116, + -2885.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -934.1945189577116, + -2888.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -934.1945189577116, + -2891.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -934.1945189577116, + -2894.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -934.1945189577116, + -2897.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -934.1945189577116, + -2900.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -934.1945189577116, + -2903.5089861476035, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -934.1945189577116, + -2903.5089861476035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -935.6945189577116, + -2906.1070623589567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -937.1945189577116, + -2908.70513857031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -938.6945189577116, + -2911.303214781663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -940.1945189577116, + -2913.901290993016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -941.6945189577116, + -2916.4993672043693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932237 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -943.1945189577116, + -2919.0974434157224, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023932237 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-53-17_570840516/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-53-17_570840516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..050f27d10e4c1a222951ec129a6380a0fa412b86 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-53-17_570840516/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 400.74605999400865, + -1373.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 398.14798378265533, + -1375.406252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 395.549907571302, + -1376.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 392.9518313599487, + -1378.406252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 390.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 387.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 384.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 381.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 378.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 375.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 372.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 369.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 363.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 354.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 351.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 348.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 345.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 342.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 339.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 336.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 333.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 330.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 327.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 324.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 321.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 318.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 315.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 315.3537551485954, + -1379.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 312.75567893724207, + -1378.406252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.15760272588875, + -1376.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 307.55952651453543, + -1375.406252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 304.9614503031821, + -1373.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.3633740918288, + -1372.406252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 299.7652978804755, + -1370.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.16722166912217, + -1369.406252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 294.56914545776885, + -1367.906252383906, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 294.56914545776885, + -1367.906252383906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 293.06914545776885, + -1365.3081761725525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.56914545776885, + -1362.7100999611991, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 290.06914545776885, + -1360.1120237498458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 288.56914545776885, + -1357.5139475384924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 287.06914545776885, + -1354.915871327139, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 285.56914545776885, + -1352.3177951157857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 284.06914545776885, + -1349.7197189044323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 282.56914545776885, + -1347.121642693079, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.06914545776885, + -1344.5235664817255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 279.56914545776885, + -1341.9254902703722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 278.06914545776885, + -1339.3274140590188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 276.56914545776885, + -1336.7293378476654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 275.06914545776885, + -1334.131261636312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 273.56914545776885, + -1331.5331854249587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 272.06914545776885, + -1328.9351092136053, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 272.06914545776885, + -1328.9351092136053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 269.47106924641554, + -1327.4351092136053, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914846 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-57-28_1702943003/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-57-28_1702943003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8e734704fcc0854af670502d3ea4d27e7b7d5ec2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_8-57-28_1702943003/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -286.9647653147364, + -1425.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -283.9647653147364, + -1425.05162521138, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -283.9647653147364, + -1425.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -281.36668910338307, + -1426.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -278.76861289202975, + -1428.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -276.17053668067643, + -1429.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -273.5724604693231, + -1431.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -270.9743842579698, + -1432.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -268.3763080466165, + -1434.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -265.77823183526317, + -1435.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -263.18015562390985, + -1437.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -260.58207941255654, + -1438.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -257.9840032012032, + -1440.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -255.3859269898499, + -1441.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -252.7878507784966, + -1443.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -250.18977456714327, + -1444.55162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -247.59169835578996, + -1446.05162521138, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -247.59169835578996, + -1446.05162521138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -246.09169835578996, + -1448.6497014227334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -244.59169835578996, + -1451.2477776340868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -243.09169835578996, + -1453.8458538454402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -241.59169835578996, + -1456.4439300567935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -240.09169835578996, + -1459.042006268147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -238.59169835578996, + -1461.6400824795003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -237.09169835578996, + -1464.2381586908537, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -235.59169835578996, + -1466.836234902207, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -234.09169835578996, + -1469.4343111135604, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -232.59169835578996, + -1472.0323873249138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -231.09169835578996, + -1474.6304635362671, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.59169835578996, + -1477.2285397476205, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -228.09169835578996, + -1479.826615958974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -226.59169835578996, + -1482.4246921703273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -225.09169835578996, + -1485.0227683816806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -223.59169835578996, + -1487.620844593034, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -222.09169835578996, + -1490.2189208043874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -220.59169835578996, + -1492.8169970157408, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -219.09169835578996, + -1495.4150732270941, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -217.59169835578996, + -1498.0131494384475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -216.09169835578996, + -1500.6112256498009, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -214.59169835578996, + -1503.2093018611542, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -213.09169835578996, + -1505.8073780725076, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -211.59169835578996, + -1508.405454283861, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -210.09169835578996, + -1511.0035304952144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -208.59169835578996, + -1513.6016067065677, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -207.09169835578996, + -1516.199682917921, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -205.59169835578996, + -1518.7977591292745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -204.09169835578996, + -1521.3958353406279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -202.59169835578996, + -1523.9939115519812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -201.09169835578996, + -1526.5919877633346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -199.59169835578996, + -1529.190063974688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -198.09169835578996, + -1531.7881401860413, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -196.59169835578996, + -1534.3862163973947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -195.09169835578996, + -1536.984292608748, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -193.59169835578996, + -1539.5823688201015, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-12-17_1343457914/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-12-17_1343457914/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35ab4fb21d82b8ceed8d879b40b1efb5fde47f89 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-12-17_1343457914/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 378.6195199433867, + -1451.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 376.0214437320334, + -1452.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 373.4233675206801, + -1454.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 370.82529130932676, + -1455.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 368.22721509797344, + -1457.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 365.6291388866201, + -1458.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 363.0310626752668, + -1460.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 360.4329864639135, + -1461.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 357.8349102525602, + -1463.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 355.23683404120686, + -1464.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 352.63875782985355, + -1466.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.04068161850023, + -1467.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 347.4426054071469, + -1469.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 344.8445291957936, + -1470.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 342.2464529844403, + -1472.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 339.64837677308697, + -1473.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 337.05030056173365, + -1475.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 334.45222435038033, + -1476.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 331.854148139027, + -1478.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 329.2560719276737, + -1479.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 326.6579957163204, + -1481.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 324.05991950496707, + -1482.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.46184329361375, + -1484.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 318.86376708226044, + -1485.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 316.2656908709071, + -1487.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 313.6676146595538, + -1488.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 311.0695384482005, + -1490.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 308.4714622368472, + -1491.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 305.87338602549386, + -1493.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 303.27530981414054, + -1494.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 300.6772336027872, + -1496.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 298.0791573914339, + -1497.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 295.4810811800806, + -1499.0974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 292.8830049687273, + -1500.5974044333277, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.8830049687273, + -1500.5974044333277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 291.3830049687273, + -1503.195480644681, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 289.8830049687273, + -1505.7935568560345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 288.3830049687273, + -1508.3916330673878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 286.8830049687273, + -1510.9897092787412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 285.3830049687273, + -1513.5877854900946, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 283.8830049687273, + -1516.185861701448, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 282.3830049687273, + -1518.7839379128013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 280.8830049687273, + -1521.3820141241547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 279.3830049687273, + -1523.980090335508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 277.8830049687273, + -1526.5781665468614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 276.3830049687273, + -1529.1762427582148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 274.8830049687273, + -1531.7743189695682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 273.3830049687273, + -1534.3723951809216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 271.8830049687273, + -1536.970471392275, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 271.8830049687273, + -1536.970471392275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 269.28492875737396, + -1538.470471392275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 266.68685254602065, + -1539.970471392275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 264.08877633466733, + -1541.470471392275, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1560.0, + -206.55 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-2-38_777635325/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-2-38_777635325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14f20d9c3f557dfbdd27b746c89d143df8a456ba --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-2-38_777635325/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -642.6166418273729, + -2036.622732388581, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -644.1166418273729, + -2034.0246561772276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -645.6166418273729, + -2031.4265799658742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -647.1166418273729, + -2028.8285037545209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -648.6166418273729, + -2026.2304275431675, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -650.1166418273729, + -2023.632351331814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -651.6166418273729, + -2021.0342751204607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -653.1166418273729, + -2018.4361989091074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -654.6166418273729, + -2015.838122697754, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -656.1166418273729, + -2013.2400464864006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -657.6166418273729, + -2010.6419702750472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -659.1166418273729, + -2008.0438940636939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -660.6166418273729, + -2005.4458178523405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -662.1166418273729, + -2002.8477416409871, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -663.6166418273729, + -2000.2496654296338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -665.1166418273729, + -1997.6515892182804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -666.6166418273729, + -1995.053513006927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -668.1166418273729, + -1992.4554367955736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -669.6166418273729, + -1989.8573605842203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -671.1166418273729, + -1987.259284372867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -672.6166418273729, + -1984.6612081615135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -674.1166418273729, + -1982.0631319501601, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -675.6166418273729, + -1979.4650557388068, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.1166418273729, + -1976.8669795274534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -678.6166418273729, + -1974.2689033161, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -680.1166418273729, + -1971.6708271047466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -681.6166418273729, + -1969.0727508933933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -683.1166418273729, + -1966.47467468204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -684.6166418273729, + -1963.8765984706865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -686.1166418273729, + -1961.2785222593332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.6166418273729, + -1958.6804460479798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -689.1166418273729, + -1956.0823698366264, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -689.1166418273729, + -1956.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -689.1166418273729, + -1953.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -689.1166418273729, + -1950.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -689.1166418273729, + -1947.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -689.1166418273729, + -1944.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.1166418273729, + -1941.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -689.1166418273729, + -1938.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -689.1166418273729, + -1935.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -689.1166418273729, + -1932.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -689.1166418273729, + -1929.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -689.1166418273729, + -1926.0823698366264, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -689.1166418273729, + -1926.0823698366264, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -690.6166418273729, + -1923.484293625273, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-22-32_360022300/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-22-32_360022300/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2be4f1711bc40afbc067c008af6707d8116d5ff6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-22-32_360022300/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.04092220601723, + -1603.454866627808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.54092220601723, + -1606.0529428391615, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 110.04092220601723, + -1608.6510190505148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.54092220601723, + -1611.2490952618682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 113.04092220601723, + -1613.8471714732216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 114.54092220601723, + -1616.445247684575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.04092220601723, + -1619.0433238959283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 117.54092220601723, + -1621.6414001072817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 119.04092220601723, + -1624.239476318635, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 120.54092220601723, + -1626.8375525299884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 122.04092220601723, + -1629.4356287413418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 123.54092220601723, + -1632.0337049526952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 125.04092220601723, + -1634.6317811640486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 126.54092220601723, + -1637.229857375402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 128.04092220601723, + -1639.8279335867553, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 129.54092220601723, + -1642.4260097981087, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 131.04092220601723, + -1645.024086009462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 132.54092220601723, + -1647.6221622208154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 134.04092220601723, + -1650.2202384321688, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 135.54092220601723, + -1652.8183146435222, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 137.04092220601723, + -1655.4163908548755, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 138.54092220601723, + -1658.014467066229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 140.04092220601723, + -1660.6125432775823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 141.54092220601723, + -1663.2106194889357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 143.04092220601723, + -1665.808695700289, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 144.54092220601723, + -1668.4067719116424, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 146.04092220601723, + -1671.0048481229958, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 147.54092220601723, + -1673.6029243343492, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 147.54092220601723, + -1673.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 147.54092220601723, + -1676.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 147.54092220601723, + -1679.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 147.54092220601723, + -1682.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 147.54092220601723, + -1685.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 147.54092220601723, + -1688.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 147.54092220601723, + -1691.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 147.54092220601723, + -1694.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 147.54092220601723, + -1697.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 147.54092220601723, + -1700.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 147.54092220601723, + -1703.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 147.54092220601723, + -1706.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 147.54092220601723, + -1709.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 147.54092220601723, + -1712.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 147.54092220601723, + -1715.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 147.54092220601723, + -1718.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 147.54092220601723, + -1721.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 147.54092220601723, + -1724.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 147.54092220601723, + -1727.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 147.54092220601723, + -1730.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 147.54092220601723, + -1733.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 147.54092220601723, + -1736.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 147.54092220601723, + -1739.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 147.54092220601723, + -1742.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 147.54092220601723, + -1745.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 147.54092220601723, + -1748.6029243343492, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 147.54092220601723, + -1748.6029243343492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 149.04092220601723, + -1751.2010005457025, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.0, + -1776.0, + -214.057 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-32-42_62299853/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-32-42_62299853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e98cf77b83a9c6bcc530197cdcb2c3131d7e65b5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-32-42_62299853/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -648.0587233041476, + -2042.9781883446992, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -649.5587233041476, + -2040.3801121333458, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -651.0587233041476, + -2037.7820359219925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -652.5587233041476, + -2035.183959710639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -654.0587233041476, + -2032.5858834992857, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -655.5587233041476, + -2029.9878072879324, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -657.0587233041476, + -2027.389731076579, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -658.5587233041476, + -2024.7916548652256, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -660.0587233041476, + -2022.1935786538722, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -661.5587233041476, + -2019.5955024425189, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -663.0587233041476, + -2016.9974262311655, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -664.5587233041476, + -2014.3993500198121, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -666.0587233041476, + -2011.8012738084587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -667.5587233041476, + -2009.2031975971054, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -669.0587233041476, + -2006.605121385752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -670.5587233041476, + -2004.0070451743986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -672.0587233041476, + -2001.4089689630453, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.5587233041476, + -1998.8108927516919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -675.0587233041476, + -1996.2128165403385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -676.5587233041476, + -1993.6147403289851, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -678.0587233041476, + -1991.0166641176318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -679.5587233041476, + -1988.4185879062784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.0587233041476, + -1985.820511694925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -682.5587233041476, + -1983.2224354835716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -684.0587233041476, + -1980.6243592722183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -685.5587233041476, + -1978.026283060865, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.0587233041476, + -1975.4282068495115, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.0587233041476, + -1975.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.0587233041476, + -1972.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.0587233041476, + -1969.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.0587233041476, + -1966.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.0587233041476, + -1963.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.0587233041476, + -1960.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.0587233041476, + -1957.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.0587233041476, + -1954.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.0587233041476, + -1951.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.0587233041476, + -1948.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.0587233041476, + -1945.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.0587233041476, + -1942.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.0587233041476, + -1939.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.0587233041476, + -1936.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.0587233041476, + -1933.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.0587233041476, + -1930.4282068495115, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.0587233041476, + -1930.4282068495115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -688.5587233041476, + -1927.8301306381582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -690.0587233041476, + -1925.2320544268048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -691.5587233041476, + -1922.6339782154514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -693.0587233041476, + -1920.035902004098, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-33-34_1933084303/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-33-34_1933084303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac9f1e15685a2314d1a3946ca69a31611fa4e9f5 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-33-34_1933084303/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 407.00643908498967, + -1335.9283929542137, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.50643908498967, + -1333.3303167428603, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 410.00643908498967, + -1330.732240531507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 411.50643908498967, + -1328.1341643201536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 413.00643908498967, + -1325.5360881088002, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 413.00643908498967, + -1325.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 413.00643908498967, + -1322.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.00643908498967, + -1319.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.00643908498967, + -1316.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.00643908498967, + -1313.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.00643908498967, + -1310.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.00643908498967, + -1307.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.00643908498967, + -1304.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.00643908498967, + -1301.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.00643908498967, + -1298.5360881088002, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 413.00643908498967, + -1298.5360881088002, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 413.00643908498967, + -1298.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 415.604515296343, + -1297.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 418.2025915076963, + -1295.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 420.8006677190496, + -1294.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 423.39874393040293, + -1292.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 425.99682014175625, + -1291.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 428.59489635310956, + -1289.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 431.1929725644629, + -1288.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 433.7910487758162, + -1286.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 436.3891249871695, + -1285.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 438.9872011985228, + -1283.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 441.58527740987614, + -1282.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 444.18335362122946, + -1280.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 446.7814298325828, + -1279.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 449.3795060439361, + -1277.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 451.9775822552894, + -1276.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 454.5756584666427, + -1274.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 457.17373467799604, + -1273.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 459.77181088934935, + -1271.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 462.36988710070267, + -1270.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 464.967963312056, + -1268.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 467.5660395234093, + -1267.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 470.1641157347626, + -1265.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 472.76219194611593, + -1264.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 475.36026815746925, + -1262.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 477.95834436882257, + -1261.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 480.5564205801759, + -1259.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 483.1544967915292, + -1258.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 485.7525730028825, + -1256.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 488.35064921423583, + -1255.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 490.94872542558915, + -1253.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 493.54680163694246, + -1252.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 496.1448778482958, + -1250.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 498.7429540596491, + -1249.0360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 501.3410302710024, + -1247.5360881088002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 503.9391064823557, + -1246.0360881088002, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-46-54_6938620/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-46-54_6938620/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af34d0893610193816233d4ebedf034c2734f4d2 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-46-54_6938620/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.64221391698055, + -1283.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 384.04413770562724, + -1285.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 381.4460614942739, + -1286.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 378.8479852829206, + -1288.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 376.2499090715673, + -1289.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 373.651832860214, + -1291.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 371.05375664886066, + -1292.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 368.45568043750734, + -1294.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 365.857604226154, + -1295.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 363.2595280148007, + -1297.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 360.6614518034474, + -1298.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 358.0633755920941, + -1300.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 355.46529938074076, + -1301.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 352.86722316938744, + -1303.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 350.2691469580341, + -1304.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 347.6710707466808, + -1306.177572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 345.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 342.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 339.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 336.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 333.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 330.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 327.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 324.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 321.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 318.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 315.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 312.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 309.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 306.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 306.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 306.0729945353275, + -1307.677572940942, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 304.5729945353275, + -1310.2756491522953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 303.0729945353275, + -1312.8737253636486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 301.5729945353275, + -1315.471801575002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 300.0729945353275, + -1318.0698777863554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 298.5729945353275, + -1320.6679539977088, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 297.0729945353275, + -1323.2660302090621, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 295.5729945353275, + -1325.8641064204155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 294.0729945353275, + -1328.4621826317689, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 294.0729945353275, + -1328.4621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.4749183239742, + -1329.9621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 288.87684211262086, + -1331.4621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 286.27876590126755, + -1332.9621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 283.68068968991423, + -1334.4621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 281.0826134785609, + -1335.9621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 278.4845372672076, + -1337.4621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 275.8864610558543, + -1338.9621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 273.28838484450097, + -1340.4621826317689, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 273.28838484450097, + -1340.4621826317689, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 271.78838484450097, + -1343.0602588431223, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 270.28838484450097, + -1345.6583350544756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 268.78838484450097, + -1348.256411265829, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 267.28838484450097, + -1350.8544874771824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 265.78838484450097, + -1353.4525636885357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 264.28838484450097, + -1356.0506398998891, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-51-26_1853101996/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-51-26_1853101996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f154d9cdd880b1e0a009e6da98a1e3ff06c8a3b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-51-26_1853101996/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.02281741229456, + -1337.9040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 390.42474120094124, + -1339.4040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 387.8266649895879, + -1340.9040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 385.2285887782346, + -1342.4040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.6305125668813, + -1343.9040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.032436355528, + -1345.4040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 377.43436014417466, + -1346.9040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 374.83628393282135, + -1348.4040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 372.23820772146803, + -1349.9040269106558, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 372.23820772146803, + -1349.9040269106558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.73820772146803, + -1352.5021031220092, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 369.23820772146803, + -1355.1001793333626, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 367.73820772146803, + -1357.698255544716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 366.23820772146803, + -1360.2963317560693, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 364.73820772146803, + -1362.8944079674227, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 363.23820772146803, + -1365.492484178776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 361.73820772146803, + -1368.0905603901294, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.23820772146803, + -1370.6886366014828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 358.73820772146803, + -1373.2867128128362, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 357.23820772146803, + -1375.8847890241896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 355.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 355.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 355.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 352.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 349.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 346.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 343.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 340.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 337.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 334.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 331.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 328.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 325.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 322.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 319.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 316.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 313.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 310.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 307.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 304.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 298.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 295.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 292.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 289.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 286.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 283.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 283.73820772146803, + -1378.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 281.1401315101147, + -1376.982865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 278.5420552987614, + -1375.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 275.9439790874081, + -1373.982865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 273.34590287605477, + -1372.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 270.74782666470145, + -1370.982865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 268.14975045334813, + -1369.482865235543, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 265.5516742419948, + -1367.982865235543, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-53-17_716898500/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-53-17_716898500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c5c65a10d6ff7519fb33ae197109edb6b177c73e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-53-17_716898500/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -82.69715298853413, + -1410.5004141416, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -84.19715298853413, + -1413.0984903529534, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.69715298853413, + -1415.6965665643067, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -87.19715298853413, + -1418.2946427756601, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -88.69715298853413, + -1420.8927189870135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -90.19715298853413, + -1423.4907951983669, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -91.69715298853413, + -1426.0888714097202, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -93.19715298853413, + -1428.6869476210736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -94.69715298853413, + -1431.285023832427, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -96.19715298853413, + -1433.8831000437804, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -96.19715298853413, + -1433.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -98.79522919988744, + -1435.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -101.39330541124076, + -1436.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -103.99138162259408, + -1438.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -106.58945783394739, + -1439.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -109.18753404530071, + -1441.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -111.78561025665402, + -1442.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -114.38368646800734, + -1444.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -116.98176267936066, + -1445.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -119.57983889071397, + -1447.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -122.17791510206729, + -1448.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.7759913134206, + -1450.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -127.37406752477392, + -1451.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -129.97214373612724, + -1453.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -132.57021994748055, + -1454.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -135.16829615883387, + -1456.3831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -137.76637237018718, + -1457.8831000437804, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -137.76637237018718, + -1457.8831000437804, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -139.26637237018718, + -1460.4811762551337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -140.76637237018718, + -1463.079252466487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -142.26637237018718, + -1465.6773286778405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -143.76637237018718, + -1468.2754048891939, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -145.26637237018718, + -1470.8734811005472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -146.76637237018718, + -1473.4715573119006, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -148.26637237018718, + -1476.069633523254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -149.76637237018718, + -1478.6677097346073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -151.26637237018718, + -1481.2657859459607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -152.76637237018718, + -1483.863862157314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -154.26637237018718, + -1486.4619383686675, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -155.76637237018718, + -1489.0600145800208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -157.26637237018718, + -1491.6580907913742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -158.76637237018718, + -1494.2561670027276, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.26637237018718, + -1496.854243214081, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -161.76637237018718, + -1499.4523194254343, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -161.76637237018718, + -1499.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -161.76637237018718, + -1502.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -161.76637237018718, + -1505.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -161.76637237018718, + -1508.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -161.76637237018718, + -1511.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -161.76637237018718, + -1514.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -161.76637237018718, + -1517.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -161.76637237018718, + -1520.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -161.76637237018718, + -1523.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -161.76637237018718, + -1526.4523194254343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -161.76637237018718, + -1529.4523194254343, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-57-51_2011662880/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-57-51_2011662880/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9237c400fa2ef80abaec18ff22bcd3cfb9df8ce6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-57-51_2011662880/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -99.82142294140871, + -1491.5625169983825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -101.32142294140871, + -1494.160593209736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -102.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -102.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -105.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -108.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -111.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -114.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -117.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -120.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -123.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -126.82142294140871, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -129.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -132.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -135.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -138.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -144.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -147.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -150.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -153.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -156.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -159.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -162.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -165.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -168.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -171.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -174.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -177.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -180.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -183.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -186.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -189.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -192.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -195.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -198.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -198.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -198.8214229414087, + -1496.7586694210893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -200.3214229414087, + -1494.160593209736, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -201.8214229414087, + -1491.5625169983825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -203.3214229414087, + -1488.9644407870292, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -204.8214229414087, + -1486.3663645756758, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -206.3214229414087, + -1483.7682883643224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -207.8214229414087, + -1481.170212152969, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -209.3214229414087, + -1478.5721359416157, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -209.3214229414087, + -1478.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -211.91949915276203, + -1477.0721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -214.51757536411534, + -1475.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -217.11565157546866, + -1474.0721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -219.71372778682198, + -1472.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -222.3118039981753, + -1471.0721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -224.9098802095286, + -1469.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -227.50795642088192, + -1468.0721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -230.10603263223524, + -1466.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -232.70410884358856, + -1465.0721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -235.30218505494187, + -1463.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -237.9002612662952, + -1462.0721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -240.4983374776485, + -1460.5721359416157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -243.09641368900182, + -1459.0721359416157, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-7-16_505185185/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-7-16_505185185/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..999b372811f911ba86c75d6124e90bb6e51be6be --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-10_9-7-16_505185185/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -812.2829653963386, + -1790.688655831911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -809.2829653963386, + -1790.688655831911, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -809.2829653963386, + -1790.688655831911, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.2829653963386, + -1790.688655831911, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.7829653963386, + -1793.2867320432645, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.2829653963386, + -1795.8848082546178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -804.7829653963386, + -1798.4828844659712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -803.2829653963386, + -1801.0809606773246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.7829653963386, + -1803.679036888678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.2829653963386, + -1806.2771131000313, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -800.2829653963386, + -1806.2771131000313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -800.2829653963386, + -1809.2771131000313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -800.2829653963386, + -1812.2771131000313, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -800.2829653963386, + -1812.2771131000313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -798.7829653963386, + -1814.8751893113847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -797.2829653963386, + -1817.473265522738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -795.7829653963386, + -1820.0713417340914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -794.2829653963386, + -1822.6694179454448, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -792.7829653963386, + -1825.2674941567982, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -791.2829653963386, + -1827.8655703681516, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -789.7829653963386, + -1830.463646579505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -788.2829653963386, + -1833.0617227908583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -786.7829653963386, + -1835.6597990022117, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -785.2829653963386, + -1838.257875213565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -783.7829653963386, + -1840.8559514249184, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.7829653963386, + -1840.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -781.1848891849852, + -1842.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -778.5868129736318, + -1843.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -775.9887367622784, + -1845.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -773.3906605509251, + -1846.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -770.7925843395717, + -1848.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -768.1945081282183, + -1849.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -765.596431916865, + -1851.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -762.9983557055116, + -1852.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -760.4002794941582, + -1854.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -757.8022032828048, + -1855.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -755.2041270714515, + -1857.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -752.6060508600981, + -1858.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -750.0079746487447, + -1860.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -747.4098984373913, + -1861.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -744.811822226038, + -1863.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -742.2137460146846, + -1864.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -739.6156698033312, + -1866.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -737.0175935919779, + -1867.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -734.4195173806245, + -1869.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -731.8214411692711, + -1870.8559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -729.2233649579177, + -1872.3559514249184, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -726.6252887465644, + -1873.8559514249184, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-42-44_1101513929/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-42-44_1101513929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..088072a3e56c92e9e2971d83dc595c460bf5d5e3 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-42-44_1101513929/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -660.762498054405, + -2052.128654662461, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -662.262498054405, + -2049.530578451108, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932237 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -663.762498054405, + -2046.9325022397545, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -665.262498054405, + -2044.3344260284011, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -666.762498054405, + -2041.7363498170478, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -668.262498054405, + -2039.1382736056944, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.762498054405, + -2036.540197394341, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -671.262498054405, + -2033.9421211829876, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -672.762498054405, + -2031.3440449716343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.262498054405, + -2028.745968760281, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -675.762498054405, + -2026.1478925489275, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.262498054405, + -2023.5498163375742, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -678.762498054405, + -2020.9517401262208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -680.262498054405, + -2018.3536639148674, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -681.762498054405, + -2015.755587703514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.262498054405, + -2013.1575114921607, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -684.762498054405, + -2010.5594352808073, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -686.262498054405, + -2007.961359069454, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -687.762498054405, + -2005.3632828581005, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.762498054405, + -2005.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.762498054405, + -2002.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.762498054405, + -1999.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -687.762498054405, + -1996.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.762498054405, + -1993.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.762498054405, + -1990.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -687.762498054405, + -1987.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.762498054405, + -1984.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.762498054405, + -1981.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.762498054405, + -1978.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.762498054405, + -1975.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.762498054405, + -1972.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.762498054405, + -1969.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.762498054405, + -1966.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.762498054405, + -1963.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.762498054405, + -1960.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.762498054405, + -1957.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -687.762498054405, + -1954.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -687.762498054405, + -1951.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.762498054405, + -1948.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.762498054405, + -1945.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -687.762498054405, + -1942.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -687.762498054405, + -1939.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.762498054405, + -1936.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -687.762498054405, + -1933.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -687.762498054405, + -1930.3632828581005, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -687.762498054405, + -1930.3632828581005, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -689.262498054405, + -1927.7652066467472, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -690.762498054405, + -1925.1671304353938, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -690.762498054405, + -1925.1671304353938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -693.3605742657583, + -1923.6671304353938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -695.9586504771116, + -1922.1671304353938, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-46-40_628175011/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-46-40_628175011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d067c976e8ffa5531963786487b075cd7b9684a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-46-40_628175011/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1021.9388104253153, + -2778.9907100894966, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1020.4388104253153, + -2781.5887863008497, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1018.9388104253153, + -2784.186862512203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1017.4388104253153, + -2786.784938723556, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1015.9388104253153, + -2789.383014934909, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1014.4388104253153, + -2791.9810911462623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1012.9388104253153, + -2794.5791673576155, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1011.4388104253153, + -2797.1772435689686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1009.9388104253153, + -2799.7753197803218, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1008.4388104253153, + -2802.373395991675, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1006.9388104253153, + -2804.971472203028, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1005.4388104253153, + -2807.569548414381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1003.9388104253153, + -2810.1676246257343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1002.4388104253153, + -2812.7657008370875, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1000.9388104253153, + -2815.3637770484406, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.9388104253153, + -2815.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.9388104253153, + -2818.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1000.9388104253153, + -2821.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.9388104253153, + -2824.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.9388104253153, + -2827.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.9388104253153, + -2830.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.9388104253153, + -2833.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1000.9388104253153, + -2836.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1000.9388104253153, + -2839.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.9388104253153, + -2842.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.9388104253153, + -2845.3637770484406, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.9388104253153, + -2845.3637770484406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -999.4388104253153, + -2847.9618532597938, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -997.9388104253153, + -2850.559929471147, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -996.4388104253153, + -2853.1580056825, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -994.9388104253153, + -2855.756081893853, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -993.4388104253153, + -2858.3541581052064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -991.9388104253153, + -2860.9522343165595, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -990.4388104253153, + -2863.5503105279126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -988.9388104253153, + -2866.148386739266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -987.4388104253153, + -2868.746462950619, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -985.9388104253153, + -2871.344539161972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -984.4388104253153, + -2873.942615373325, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -982.9388104253153, + -2876.5406915846784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -981.4388104253153, + -2879.1387677960315, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -979.9388104253153, + -2881.7368440073847, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -979.9388104253153, + -2881.7368440073847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -979.9388104253153, + -2884.7368440073847, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -979.9388104253153, + -2884.7368440073847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -978.4388104253153, + -2887.334920218738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -976.9388104253153, + -2889.932996430091, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -975.4388104253153, + -2892.531072641444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -973.9388104253153, + -2895.1291488527972, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -972.4388104253153, + -2897.7272250641504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -970.9388104253153, + -2900.3253012755035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -969.4388104253153, + -2902.9233774868567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -967.9388104253153, + -2905.52145369821, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -967.9388104253153, + -2905.52145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -965.3407342139619, + -2907.02145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -962.7426580026086, + -2908.52145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -960.1445817912552, + -2910.02145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -957.5465055799018, + -2911.52145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -954.9484293685484, + -2913.02145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -952.3503531571951, + -2914.52145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -949.7522769458417, + -2916.02145369821, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -949.7522769458417, + -2916.02145369821, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -948.2522769458417, + -2918.619529909563, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-51-21_1973594324/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-51-21_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29bf19706134d9964b8668355053c7ee4bfcc3c0 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-51-21_1973594324/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.01922047001034, + -1580.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 193.42114425865702, + -1582.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 190.8230680473037, + -1583.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 188.2249918359504, + -1585.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 185.62691562459707, + -1586.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 183.02883941324376, + -1588.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 180.43076320189044, + -1589.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 177.83268699053713, + -1591.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 175.2346107791838, + -1592.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 172.6365345678305, + -1594.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 170.03845835647718, + -1595.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 167.44038214512386, + -1597.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 164.84230593377055, + -1598.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 162.24422972241723, + -1600.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 159.64615351106391, + -1601.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 157.0480772997106, + -1603.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 154.45000108835728, + -1604.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 151.85192487700397, + -1606.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 149.25384866565065, + -1607.729221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 146.65577245429733, + -1609.229221018667, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 146.65577245429733, + -1609.229221018667, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 145.15577245429733, + -1611.8272972300203, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 143.65577245429733, + -1614.4253734413737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 142.15577245429733, + -1617.023449652727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 140.65577245429733, + -1619.6215258640805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 139.15577245429733, + -1622.2196020754338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 137.65577245429733, + -1624.8176782867872, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 136.15577245429733, + -1627.4157544981406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 134.65577245429733, + -1630.013830709494, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 133.15577245429733, + -1632.6119069208473, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 131.65577245429733, + -1635.2099831322007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 130.15577245429733, + -1637.808059343554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 128.65577245429733, + -1640.4061355549075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 127.15577245429733, + -1643.0042117662608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 125.65577245429733, + -1645.6022879776142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 124.15577245429733, + -1648.2003641889676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 122.65577245429733, + -1650.798440400321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 121.15577245429733, + -1653.3965166116743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 119.65577245429733, + -1655.9945928230277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 118.15577245429733, + -1658.592669034381, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 118.15577245429733, + -1658.592669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 115.55769624294402, + -1660.092669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 112.9596200315907, + -1661.592669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 110.36154382023739, + -1663.092669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 107.76346760888407, + -1664.592669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 105.16539139753075, + -1666.092669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 102.56731518617744, + -1667.592669034381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 99.96923897482412, + -1669.092669034381, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-54-24_1424268980/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-54-24_1424268980/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..499d9fdcd6322f0479f9fa5f7d57e32acabd13bf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_20-54-24_1424268980/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -707.5269809236067, + -1779.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.5269809236067, + -1782.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -707.5269809236067, + -1785.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.5269809236067, + -1788.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -707.5269809236067, + -1791.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -707.5269809236067, + -1794.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -707.5269809236067, + -1797.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -707.5269809236067, + -1800.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -707.5269809236067, + -1803.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -707.5269809236067, + -1806.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.5269809236067, + -1809.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -707.5269809236067, + -1812.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -707.5269809236067, + -1815.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -707.5269809236067, + -1818.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -707.5269809236067, + -1821.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -707.5269809236067, + -1824.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -707.5269809236067, + -1827.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -707.5269809236067, + -1830.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -707.5269809236067, + -1833.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -707.5269809236067, + -1836.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -707.5269809236067, + -1839.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -707.5269809236067, + -1842.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -707.5269809236067, + -1845.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -707.5269809236067, + -1848.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.5269809236067, + -1851.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.5269809236067, + -1854.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -707.5269809236067, + -1857.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -707.5269809236067, + -1860.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -707.5269809236067, + -1863.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -707.5269809236067, + -1866.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -707.5269809236067, + -1869.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -707.5269809236067, + -1872.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -707.5269809236067, + -1875.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -707.5269809236067, + -1878.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -707.5269809236067, + -1881.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -707.5269809236067, + -1884.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -707.5269809236067, + -1887.7472027161164, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -707.5269809236067, + -1887.7472027161164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -709.0269809236067, + -1890.3452789274697, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -710.5269809236067, + -1892.943355138823, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -712.0269809236067, + -1895.5414313501765, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -712.0269809236067, + -1895.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -712.0269809236067, + -1898.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -712.0269809236067, + -1901.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -712.0269809236067, + -1904.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -712.0269809236067, + -1907.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -712.0269809236067, + -1910.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -712.0269809236067, + -1913.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -712.0269809236067, + -1916.5414313501765, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -712.0269809236067, + -1919.5414313501765, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -712.0, + -1940.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-12-47_1474612399/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-12-47_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a1d68e3f6c03c837c2da096ed60105cf227dc236 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-12-47_1474612399/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 371.68998357247574, + -1281.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 369.0919073611224, + -1282.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 366.4938311497691, + -1284.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 363.8957549384158, + -1285.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 361.2976787270625, + -1287.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 358.69960251570916, + -1288.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 356.10152630435584, + -1290.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 353.5034500930025, + -1291.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 350.9053738816492, + -1293.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 348.3072976702959, + -1294.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 345.7092214589426, + -1296.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 343.11114524758926, + -1297.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 340.51306903623595, + -1299.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 337.91499282488263, + -1300.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 335.3169166135293, + -1302.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 332.718840402176, + -1303.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 330.1207641908227, + -1305.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 327.52268797946937, + -1306.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 324.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 324.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 321.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 318.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 315.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 312.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 312.92461176811605, + -1308.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 310.32653555676274, + -1309.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 307.7284593454094, + -1311.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 305.1303831340561, + -1312.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 302.5323069227028, + -1314.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 299.93423071134947, + -1315.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 297.33615449999616, + -1317.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 294.73807828864284, + -1318.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.1400020772895, + -1320.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 289.5419258659362, + -1321.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 286.9438496545829, + -1323.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 284.3457734432296, + -1324.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 281.74769723187626, + -1326.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 279.14962102052294, + -1327.7944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 276.5515448091696, + -1329.2944270593682, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 276.5515448091696, + -1329.2944270593682, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 275.0515448091696, + -1331.8925032707216, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 273.5515448091696, + -1334.490579482075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 272.0515448091696, + -1337.0886556934283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 270.5515448091696, + -1339.6867319047817, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 269.0515448091696, + -1342.284808116135, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 267.5515448091696, + -1344.8828843274885, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 266.0515448091696, + -1347.4809605388418, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 264.5515448091696, + -1350.0790367501952, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 263.0515448091696, + -1352.6771129615486, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 261.5515448091696, + -1355.275189172902, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-21-22_1376710097/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-21-22_1376710097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4efb415499b60caed19e40b383a8d882c8cdf75b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-21-22_1376710097/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -810.4585243776302, + -1755.0188370909186, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -808.9585243776302, + -1757.616913302272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -807.4585243776302, + -1760.2149895136254, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -805.9585243776302, + -1762.8130657249787, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -805.9585243776302, + -1762.8130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -803.3604481662769, + -1764.3130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -800.7623719549235, + -1765.8130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -798.1642957435702, + -1767.3130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -795.5662195322168, + -1768.8130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -792.9681433208634, + -1770.3130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -790.37006710951, + -1771.8130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -787.7719908981567, + -1773.3130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -785.1739146868033, + -1774.8130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -782.5758384754499, + -1776.3130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -779.9777622640966, + -1777.8130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -777.3796860527432, + -1779.3130657249787, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.3796860527432, + -1779.3130657249787, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -775.8796860527432, + -1781.9111419363321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.3796860527432, + -1784.5092181476855, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -772.8796860527432, + -1787.1072943590389, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -771.3796860527432, + -1789.7053705703922, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -769.8796860527432, + -1792.3034467817456, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -768.3796860527432, + -1794.901522993099, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -766.8796860527432, + -1797.4995992044524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -765.3796860527432, + -1800.0976754158057, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -763.8796860527432, + -1802.695751627159, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -762.3796860527432, + -1805.2938278385125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -760.8796860527432, + -1807.8919040498658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -759.3796860527432, + -1810.4899802612192, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -757.8796860527432, + -1813.0880564725726, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -756.3796860527432, + -1815.686132683926, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -754.8796860527432, + -1818.2842088952793, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -753.3796860527432, + -1820.8822851066327, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -751.8796860527432, + -1823.480361317986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -750.3796860527432, + -1826.0784375293395, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -748.8796860527432, + -1828.6765137406928, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -747.3796860527432, + -1831.2745899520462, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -745.8796860527432, + -1833.8726661633996, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -744.3796860527432, + -1836.470742374753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -742.8796860527432, + -1839.0688185861063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -741.3796860527432, + -1841.6668947974597, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -739.8796860527432, + -1844.264971008813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -738.3796860527432, + -1846.8630472201664, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -736.8796860527432, + -1849.4611234315198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -735.3796860527432, + -1852.0591996428732, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -733.8796860527432, + -1854.6572758542266, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -732.3796860527432, + -1857.25535206558, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -730.8796860527432, + -1859.8534282769333, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -729.3796860527432, + -1862.4515044882867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -727.8796860527432, + -1865.04958069964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -726.3796860527432, + -1867.6476569109934, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -724.8796860527432, + -1870.2457331223468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -723.3796860527432, + -1872.8438093337002, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -721.8796860527432, + -1875.4418855450535, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-23-54_660260756/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-23-54_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47a574705e7493f1de01a96ae5726b8934701290 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-23-54_660260756/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.08646982690004, + -1472.6844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -99.68454603825336, + -1471.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -102.28262224960667, + -1469.6844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -104.88069846095999, + -1468.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.4787746723133, + -1466.6844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.07685088366662, + -1465.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -112.67492709501994, + -1463.6844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -115.27300330637325, + -1462.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -117.87107951772657, + -1460.6844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -120.46915572907989, + -1459.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.0672319404332, + -1457.6844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -128.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -131.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -134.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -137.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -140.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -143.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -146.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -149.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -152.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -155.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -158.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -161.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -164.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -167.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -170.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -173.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -176.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -179.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -182.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -185.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -188.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -191.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -194.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -197.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -200.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -203.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -206.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -209.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -212.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -215.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -218.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -221.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -224.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -227.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -230.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -233.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -236.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -239.66530815178652, + -1456.1844984434658, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-24-22_959997301/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-24-22_959997301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ced3c651e881d00dad851afeeac9edd99466492 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-24-22_959997301/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -791.3505165697586, + -2020.2880014545174, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.8505165697586, + -2017.689925243164, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -788.3505165697586, + -2015.0918490318106, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -786.8505165697586, + -2012.4937728204573, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -785.3505165697586, + -2009.8956966091039, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -783.8505165697586, + -2007.2976203977505, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -782.3505165697586, + -2004.6995441863971, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -780.8505165697586, + -2002.1014679750438, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -779.3505165697586, + -1999.5033917636904, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -777.8505165697586, + -1996.905315552337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -776.3505165697586, + -1994.3072393409836, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -774.8505165697586, + -1991.7091631296303, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -773.3505165697586, + -1989.111086918277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.8505165697586, + -1986.5130107069235, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -770.3505165697586, + -1983.9149344955702, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.8505165697586, + -1981.3168582842168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -767.3505165697586, + -1978.7187820728634, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.8505165697586, + -1976.12070586151, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -764.3505165697586, + -1973.5226296501567, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -762.8505165697586, + -1970.9245534388033, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -761.3505165697586, + -1968.32647722745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -759.8505165697586, + -1965.7284010160965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -758.3505165697586, + -1963.1303248047432, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -756.8505165697586, + -1960.5322485933898, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -755.3505165697586, + -1957.9341723820364, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -753.8505165697586, + -1955.336096170683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -752.3505165697586, + -1952.7380199593297, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -750.8505165697586, + -1950.1399437479763, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -749.3505165697586, + -1947.541867536623, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -747.8505165697586, + -1944.9437913252696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -746.3505165697586, + -1942.3457151139162, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -744.8505165697586, + -1939.7476389025628, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -743.3505165697586, + -1937.1495626912094, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -741.8505165697586, + -1934.551486479856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -740.3505165697586, + -1931.9534102685027, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -738.8505165697586, + -1929.3553340571493, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -738.8505165697586, + -1929.3553340571493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -736.2524403584052, + -1927.8553340571493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -733.6543641470519, + -1926.3553340571493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -731.0562879356985, + -1924.8553340571493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -728.4582117243451, + -1923.3553340571493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -725.8601355129917, + -1921.8553340571493, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -723.2620593016384, + -1920.3553340571493, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-30-33_2114738097/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-30-33_2114738097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6026f0e3a3db202bb813102fd62bf3c87d2fd3b --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-30-33_2114738097/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 188.6271163303802, + -1488.0790713604652, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 190.1271163303802, + -1485.4809951491118, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 191.6271163303802, + -1482.8829189377584, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.1271163303802, + -1480.284842726405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 194.6271163303802, + -1477.6867665150517, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 196.1271163303802, + -1475.0886903036983, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 197.6271163303802, + -1472.490614092345, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 199.1271163303802, + -1469.8925378809915, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 200.6271163303802, + -1467.2944616696382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 202.1271163303802, + -1464.6963854582848, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 203.6271163303802, + -1462.0983092469314, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 205.1271163303802, + -1459.500233035578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 206.6271163303802, + -1456.9021568242247, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 208.1271163303802, + -1454.3040806128713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 209.6271163303802, + -1451.706004401518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 211.1271163303802, + -1449.1079281901646, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 212.6271163303802, + -1446.5098519788112, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 214.1271163303802, + -1443.9117757674578, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 215.6271163303802, + -1441.3136995561044, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 217.1271163303802, + -1438.715623344751, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 218.6271163303802, + -1436.1175471333977, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 220.1271163303802, + -1433.5194709220443, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 221.6271163303802, + -1430.921394710691, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 223.1271163303802, + -1428.3233184993376, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 223.1271163303802, + -1428.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.1271163303802, + -1425.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.1271163303802, + -1422.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 223.1271163303802, + -1419.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.1271163303802, + -1416.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 223.1271163303802, + -1413.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 223.1271163303802, + -1410.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 223.1271163303802, + -1407.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 223.1271163303802, + -1404.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 223.1271163303802, + -1401.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 223.1271163303802, + -1398.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 223.1271163303802, + -1395.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 223.1271163303802, + -1392.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 223.1271163303802, + -1389.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 223.1271163303802, + -1386.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 223.1271163303802, + -1383.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 223.1271163303802, + -1380.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 223.1271163303802, + -1377.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 223.1271163303802, + -1374.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 223.1271163303802, + -1371.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 223.1271163303802, + -1368.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 223.1271163303802, + -1365.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 223.1271163303802, + -1362.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 223.1271163303802, + -1359.3233184993376, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 223.1271163303802, + -1359.3233184993376, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 224.6271163303802, + -1356.7252422879842, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 226.1271163303802, + -1354.1271660766308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 227.6271163303802, + -1351.5290898652775, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 229.1271163303802, + -1348.931013653924, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 230.6271163303802, + -1346.3329374425707, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 232.1271163303802, + -1343.7348612312173, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 233.6271163303802, + -1341.136785019864, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 235.1271163303802, + -1338.5387088085106, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-31-5_2007905771/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-31-5_2007905771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..490e77312c113d1b56699c951273678f3d27494a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-31-5_2007905771/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -151.7432960343549, + -1562.2629938500684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -154.34137224570821, + -1560.7629938500684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -156.93944845706153, + -1559.2629938500684, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -156.93944845706153, + -1559.2629938500684, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -158.43944845706153, + -1556.664917638715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.93944845706153, + -1554.0668414273616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -161.43944845706153, + -1551.4687652160083, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -162.93944845706153, + -1548.8706890046549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -164.43944845706153, + -1546.2726127933015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -165.93944845706153, + -1543.6745365819481, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -167.43944845706153, + -1541.0764603705948, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -168.93944845706153, + -1538.4783841592414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.43944845706153, + -1535.880307947888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -171.93944845706153, + -1533.2822317365346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -173.43944845706153, + -1530.6841555251813, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -174.93944845706153, + -1528.086079313828, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.43944845706153, + -1525.4880031024745, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -177.93944845706153, + -1522.8899268911211, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -179.43944845706153, + -1520.2918506797678, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -180.93944845706153, + -1517.6937744684144, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -182.43944845706153, + -1515.095698257061, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -183.93944845706153, + -1512.4976220457077, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -183.93944845706153, + -1512.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -186.53752466841485, + -1510.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -189.13560087976816, + -1509.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -191.73367709112148, + -1507.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.3317533024748, + -1506.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -196.9298295138281, + -1504.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -199.52790572518143, + -1503.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -202.12598193653474, + -1501.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -204.72405814788806, + -1500.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -207.32213435924137, + -1498.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -209.9202105705947, + -1497.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -212.518286781948, + -1495.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -215.11636299330132, + -1494.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -217.71443920465464, + -1492.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -220.31251541600795, + -1491.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -222.91059162736127, + -1489.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -225.5086678387146, + -1488.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -228.1067440500679, + -1486.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -230.70482026142122, + -1485.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -233.30289647277453, + -1483.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -235.90097268412785, + -1482.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -238.49904889548117, + -1480.9976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -241.09712510683448, + -1479.4976220457077, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -243.6952013181878, + -1477.9976220457077, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-32-35_1610120709/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-32-35_1610120709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1aba78a04645c2594a395c2bf8364896c603317f --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-32-35_1610120709/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.41299345404036, + -1386.232161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 398.81491724268705, + -1384.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.21684103133373, + -1383.232161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 393.6187648199804, + -1381.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 391.0206886086271, + -1380.232161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 388.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 388.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 385.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 379.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 376.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 373.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 370.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 367.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 364.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 361.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 358.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 355.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 352.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 349.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 346.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 343.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 340.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 337.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 334.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 331.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 322.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 319.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 316.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 313.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 310.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 310.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 310.4226123972738, + -1378.732161174209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 308.9226123972738, + -1376.1340849628557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 307.4226123972738, + -1373.5360087515023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.9226123972738, + -1370.937932540149, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 304.4226123972738, + -1368.3398563287956, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 302.9226123972738, + -1365.7417801174422, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 301.4226123972738, + -1363.1437039060888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 299.9226123972738, + -1360.5456276947355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 298.4226123972738, + -1357.947551483382, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 296.9226123972738, + -1355.3494752720287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 295.4226123972738, + -1352.7513990606753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 293.9226123972738, + -1350.153322849322, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 293.9226123972738, + -1350.153322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 291.32453618592046, + -1348.653322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 288.72645997456715, + -1347.153322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 286.12838376321383, + -1345.653322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 283.5303075518605, + -1344.153322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 280.9322313405072, + -1342.653322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 278.3341551291539, + -1341.153322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 275.73607891780057, + -1339.653322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 273.13800270644725, + -1338.153322849322, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 273.13800270644725, + -1338.153322849322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 271.63800270644725, + -1335.5552466379686, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 270.13800270644725, + -1332.9571704266152, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 268.63800270644725, + -1330.3590942152618, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-36-34_269455306/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-36-34_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48fad8744f7b1b7bee2bb35c47ae89a0286b4d43 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-36-34_269455306/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -772.4095142296854, + -2034.2791535459487, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.9095142296854, + -2031.6810773345953, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -769.4095142296854, + -2029.083001123242, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -767.9095142296854, + -2026.4849249118886, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -766.4095142296854, + -2023.8868487005352, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -764.9095142296854, + -2021.2887724891818, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -763.4095142296854, + -2018.6906962778285, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -761.9095142296854, + -2016.092620066475, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -760.4095142296854, + -2013.4945438551217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -758.9095142296854, + -2010.8964676437683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -757.4095142296854, + -2008.298391432415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -755.9095142296854, + -2005.7003152210616, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.4095142296854, + -2003.1022390097082, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -752.9095142296854, + -2000.5041627983549, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -752.9095142296854, + -2000.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -750.3114380183322, + -1999.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -747.7133618069788, + -1997.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.1152855956254, + -1996.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -742.5172093842721, + -1994.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -739.9191331729187, + -1993.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.3210569615653, + -1991.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -734.722980750212, + -1990.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -732.1249045388586, + -1988.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -729.5268283275052, + -1987.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -726.9287521161518, + -1985.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.3306759047985, + -1984.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -721.7325996934451, + -1982.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.1345234820917, + -1981.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -716.5364472707383, + -1979.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -713.938371059385, + -1978.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -711.3402948480316, + -1976.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -708.7422186366782, + -1975.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.1441424253248, + -1973.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.5460662139715, + -1972.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -700.9479900026181, + -1970.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -698.3499137912647, + -1969.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -695.7518375799114, + -1967.5041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -693.153761368558, + -1966.0041627983549, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -693.153761368558, + -1966.0041627983549, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -691.653761368558, + -1963.4060865870015, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -690.153761368558, + -1960.808010375648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -688.653761368558, + -1958.2099341642947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -687.153761368558, + -1955.6118579529414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -685.653761368558, + -1953.013781741588, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -684.153761368558, + -1950.4157055302346, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -682.653761368558, + -1947.8176293188812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -681.153761368558, + -1945.2195531075279, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -679.653761368558, + -1942.6214768961745, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-38-1_1600028624/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-38-1_1600028624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..464ba960ae119bfe5103db0d062d31b23753ddd7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-38-1_1600028624/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -108.7462456352487, + -1418.1265361751907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -110.2462456352487, + -1420.724612386544, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -111.7462456352487, + -1423.3226885978975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -113.2462456352487, + -1425.9207648092508, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -114.7462456352487, + -1428.5188410206042, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -116.2462456352487, + -1431.1169172319576, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -117.7462456352487, + -1433.714993443311, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -119.2462456352487, + -1436.3130696546643, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -120.7462456352487, + -1438.9111458660177, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -122.2462456352487, + -1441.509222077371, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.7462456352487, + -1444.1072982887245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.2462456352487, + -1446.7053745000778, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -126.7462456352487, + -1449.3034507114312, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -128.2462456352487, + -1451.9015269227846, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -129.7462456352487, + -1454.499603134138, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -131.2462456352487, + -1457.0976793454913, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -132.7462456352487, + -1459.6957555568447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -134.2462456352487, + -1462.293831768198, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -135.7462456352487, + -1464.8919079795514, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -137.2462456352487, + -1467.4899841909048, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -137.2462456352487, + -1467.4899841909048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -139.844321846602, + -1468.9899841909048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -142.44239805795533, + -1470.4899841909048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -145.04047426930865, + -1471.9899841909048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -147.63855048066196, + -1473.4899841909048, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -147.63855048066196, + -1473.4899841909048, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -149.13855048066196, + -1476.0880604022582, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -150.63855048066196, + -1478.6861366136116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -152.13855048066196, + -1481.284212824965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -153.63855048066196, + -1483.8822890363183, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -155.13855048066196, + -1486.4803652476717, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -156.63855048066196, + -1489.078441459025, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -158.13855048066196, + -1491.6765176703784, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -159.63855048066196, + -1494.2745938817318, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -161.13855048066196, + -1496.8726700930852, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -162.63855048066196, + -1499.4707463044385, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -162.63855048066196, + -1499.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -162.63855048066196, + -1502.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -162.63855048066196, + -1505.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -162.63855048066196, + -1508.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -162.63855048066196, + -1511.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -162.63855048066196, + -1514.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -162.63855048066196, + -1517.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -162.63855048066196, + -1520.4707463044385, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -162.63855048066196, + -1523.4707463044385, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-38-27_160051528/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-38-27_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a17677cc1e483a68d06de256bc2e298443f1b92 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-38-27_160051528/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -819.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -816.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -813.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -810.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -804.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -801.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -798.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -795.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -792.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -789.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -786.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -783.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -780.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -777.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -771.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -768.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -762.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -759.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -756.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -753.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -753.1658909693205, + -1965.264312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -750.5678147579672, + -1963.764312988907, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -750.5678147579672, + -1963.764312988907, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -749.0678147579672, + -1961.1662367775536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -747.5678147579672, + -1958.5681605662003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -746.0678147579672, + -1955.970084354847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -744.5678147579672, + -1953.3720081434935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -743.0678147579672, + -1950.7739319321402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -741.5678147579672, + -1948.1758557207868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -740.0678147579672, + -1945.5777795094334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -738.5678147579672, + -1942.97970329808, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -737.0678147579672, + -1940.3816270867267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -735.5678147579672, + -1937.7835508753733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -734.0678147579672, + -1935.18547466402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -732.5678147579672, + -1932.5873984526665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -731.0678147579672, + -1929.9893222413132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -729.5678147579672, + -1927.3912460299598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -728.0678147579672, + -1924.7931698186064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -726.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -726.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -726.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -723.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -720.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -717.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -714.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -711.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -708.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -705.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -702.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -699.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -696.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -693.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -690.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -687.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -684.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -681.5678147579672, + -1922.195093607253, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -656.0, + -1916.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-39-1_2040332871/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-39-1_2040332871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f197ace00fa7752e754db5022630cce3736aa78 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-39-1_2040332871/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.62617384577686, + -1506.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -100.22425005713018, + -1505.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -102.8223262684835, + -1503.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -105.42040247983681, + -1502.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -108.01847869119013, + -1500.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.61655490254344, + -1499.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -113.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -113.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -116.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -119.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -122.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -128.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -131.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -134.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -137.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -140.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -143.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -152.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -155.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -158.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -161.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -164.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -167.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -170.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -173.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -176.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -176.21463111389676, + -1497.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -178.81270732525007, + -1496.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -181.4107835366034, + -1494.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -184.0088597479567, + -1493.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -186.60693595931002, + -1491.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -189.20501217066334, + -1490.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -191.80308838201665, + -1488.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -194.40116459336997, + -1487.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -196.99924080472329, + -1485.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -199.5973170160766, + -1484.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -202.19539322742992, + -1482.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.79346943878323, + -1481.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -207.39154565013655, + -1479.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -209.98962186148987, + -1478.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -212.58769807284318, + -1476.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -215.1857742841965, + -1475.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -217.7838504955498, + -1473.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -220.38192670690313, + -1472.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -222.98000291825645, + -1470.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -225.57807912960976, + -1469.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -228.17615534096308, + -1467.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -230.7742315523164, + -1466.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -233.3723077636697, + -1464.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -235.97038397502303, + -1463.1330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -238.56846018637634, + -1461.6330288029565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -241.16653639772966, + -1460.1330288029565, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-49-2_1622597488/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-49-2_1622597488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e0eae8001b3022f4e9a481362a1b16104a69adf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_21-49-2_1622597488/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -291.3792885150166, + -1438.195218744098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -289.8792885150166, + -1440.7932949554513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -288.3792885150166, + -1443.3913711668047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.8792885150166, + -1445.989447378158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -285.3792885150166, + -1448.5875235895114, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -283.8792885150166, + -1451.1855998008648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.3792885150166, + -1453.7836760122182, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -280.8792885150166, + -1456.3817522235715, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -279.3792885150166, + -1458.979828434925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -277.8792885150166, + -1461.5779046462783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -276.3792885150166, + -1464.1759808576317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -274.8792885150166, + -1466.774057068985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -273.3792885150166, + -1469.3721332803384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -271.8792885150166, + -1471.9702094916918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -270.3792885150166, + -1474.5682857030451, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -268.8792885150166, + -1477.1663619143985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -267.3792885150166, + -1479.764438125752, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -265.8792885150166, + -1482.3625143371053, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -264.3792885150166, + -1484.9605905484586, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -262.8792885150166, + -1487.558666759812, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -261.3792885150166, + -1490.1567429711654, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -259.8792885150166, + -1492.7548191825188, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -258.3792885150166, + -1495.3528953938721, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -256.8792885150166, + -1497.9509716052255, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -255.37928851501658, + -1500.5490478165789, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -253.87928851501658, + -1503.1471240279323, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -252.37928851501658, + -1505.7452002392856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -250.87928851501658, + -1508.343276450639, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -250.87928851501658, + -1508.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -248.28121230366327, + -1509.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -245.68313609230995, + -1511.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -243.08505988095663, + -1512.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -240.48698366960332, + -1514.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -237.88890745825, + -1515.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -235.2908312468967, + -1517.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -232.69275503554337, + -1518.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -230.09467882419005, + -1520.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -227.49660261283674, + -1521.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -224.89852640148342, + -1523.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -222.3004501901301, + -1524.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -219.7023739787768, + -1526.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -217.10429776742347, + -1527.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -214.50622155607016, + -1529.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -211.90814534471684, + -1530.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -209.31006913336353, + -1532.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -206.7119929220102, + -1533.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -204.1139167106569, + -1535.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -201.51584049930358, + -1536.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -198.91776428795026, + -1538.343276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -196.31968807659695, + -1539.843276450639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -193.72161186524363, + -1541.343276450639, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-11-20_1067854538/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-11-20_1067854538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c909ddf9eba1290219726d989ab762661244c618 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-11-20_1067854538/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.6365010815064, + -1600.9260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -176.2345772928597, + -1599.4260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.83265350421303, + -1597.9260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -181.43072971556634, + -1596.4260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -184.02880592691966, + -1594.9260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -186.62688213827298, + -1593.4260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -189.2249583496263, + -1591.9260022826375, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -189.2249583496263, + -1591.9260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -192.2249583496263, + -1591.9260022826375, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -192.2249583496263, + -1591.9260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.8230345609796, + -1590.4260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -197.42111077233292, + -1588.9260022826375, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -197.42111077233292, + -1588.9260022826375, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -198.92111077233292, + -1586.327926071284, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -200.42111077233292, + -1583.7298498599307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -201.92111077233292, + -1581.1317736485773, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -203.42111077233292, + -1578.533697437224, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -204.92111077233292, + -1575.9356212258706, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -206.42111077233292, + -1573.3375450145172, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -207.92111077233292, + -1570.7394688031638, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -209.42111077233292, + -1568.1413925918105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -210.92111077233292, + -1565.543316380457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -212.42111077233292, + -1562.9452401691037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -213.92111077233292, + -1560.3471639577504, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -215.42111077233292, + -1557.749087746397, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -216.92111077233292, + -1555.1510115350436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -218.42111077233292, + -1552.5529353236902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -219.92111077233292, + -1549.9548591123369, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -221.42111077233292, + -1547.3567829009835, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -222.92111077233292, + -1544.7587066896301, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -224.42111077233292, + -1542.1606304782767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -225.92111077233292, + -1539.5625542669234, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -227.42111077233292, + -1536.96447805557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -228.92111077233292, + -1534.3664018442166, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -230.42111077233292, + -1531.7683256328633, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -231.92111077233292, + -1529.1702494215099, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -233.42111077233292, + -1526.5721732101565, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -234.92111077233292, + -1523.9740969988031, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -236.42111077233292, + -1521.3760207874498, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -237.92111077233292, + -1518.7779445760964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -239.42111077233292, + -1516.179868364743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -240.92111077233292, + -1513.5817921533896, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -242.42111077233292, + -1510.9837159420363, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -243.92111077233292, + -1508.385639730683, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -245.42111077233292, + -1505.7875635193295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -246.92111077233292, + -1503.1894873079762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -248.42111077233292, + -1500.5914110966228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -249.92111077233292, + -1497.9933348852694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -251.42111077233292, + -1495.395258673916, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -251.42111077233292, + -1495.395258673916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -251.42111077233292, + -1492.395258673916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -251.42111077233292, + -1489.395258673916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -251.42111077233292, + -1486.395258673916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -251.42111077233292, + -1483.395258673916, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -251.42111077233292, + -1480.395258673916, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-19-22_1398295499/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-19-22_1398295499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba54d1a96042dd36b3f6d6fc8839f8381590cf18 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-19-22_1398295499/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 397.8972451043741, + -1319.4989541286575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 400.49532131572744, + -1317.9989541286575, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 400.49532131572744, + -1317.9989541286575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.99532131572744, + -1315.4008779173041, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 403.49532131572744, + -1312.8028017059507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 404.99532131572744, + -1310.2047254945974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 406.49532131572744, + -1307.606649283244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 407.99532131572744, + -1305.0085730718906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 409.49532131572744, + -1302.4104968605373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 410.99532131572744, + -1299.8124206491839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 412.49532131572744, + -1297.2143444378305, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.49532131572744, + -1297.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 415.09339752708075, + -1295.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 417.69147373843407, + -1294.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 420.2895499497874, + -1292.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 422.8876261611407, + -1291.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 425.485702372494, + -1289.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 428.08377858384733, + -1288.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 430.68185479520065, + -1286.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 433.27993100655397, + -1285.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 435.8780072179073, + -1283.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.4760834292606, + -1282.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 441.0741596406139, + -1280.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 443.67223585196723, + -1279.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 446.27031206332055, + -1277.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 448.86838827467386, + -1276.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 451.4664644860272, + -1274.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 454.0645406973805, + -1273.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 456.6626169087338, + -1271.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 459.2606931200871, + -1270.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 461.85876933144044, + -1268.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 464.45684554279376, + -1267.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 467.0549217541471, + -1265.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 469.6529979655004, + -1264.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 472.2510741768537, + -1262.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 474.849150388207, + -1261.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 477.44722659956034, + -1259.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 480.04530281091365, + -1258.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 482.64337902226697, + -1256.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 485.2414552336203, + -1255.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 487.8395314449736, + -1253.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 490.4376076563269, + -1252.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 493.03568386768023, + -1250.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 495.63376007903355, + -1249.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 498.23183629038687, + -1247.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 500.8299125017402, + -1246.2143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 503.4279887130935, + -1244.7143444378305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 506.0260649244468, + -1243.2143444378305, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-19-48_1096689772/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-19-48_1096689772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d70ebf7aa6c04feabdf4a820b258b2106bf67db --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-19-48_1096689772/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -38.651362528986226, + -1805.3931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -36.05328631763291, + -1803.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -33.455210106279594, + -1802.3931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -30.857133894926278, + -1800.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -28.259057683572962, + -1799.3931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -25.660981472219646, + -1797.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -23.06290526086633, + -1796.3931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -20.464829049513014, + -1794.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -17.866752838159698, + -1793.3931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -15.268676626806382, + -1791.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -12.670600415453066, + -1790.3931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -10.07252420409975, + -1788.8931561623933, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -10.07252420409975, + -1788.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -7.07252420409975, + -1788.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -4.07252420409975, + -1788.8931561623933, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -4.07252420409975, + -1788.8931561623933, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -4.07252420409975, + -1788.8931561623933, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -2.5725242040997496, + -1786.29507995104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1.0725242040997491, + -1783.6970037396866, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 0.4274757959002513, + -1781.0989275283332, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.9274757959002518, + -1778.5008513169798, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.427475795900252, + -1775.9027751056265, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 4.927475795900253, + -1773.304698894273, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 6.4274757959002535, + -1770.7066226829197, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196607 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 7.9274757959002535, + -1768.1085464715663, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 9.427475795900254, + -1765.510470260213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 10.927475795900254, + -1762.9123940488596, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 12.427475795900254, + -1760.3143178375062, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 13.927475795900254, + -1757.7162416261529, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 15.427475795900254, + -1755.1181654147995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 16.927475795900254, + -1752.520089203446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 18.427475795900254, + -1749.9220129920927, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 19.927475795900254, + -1747.3239367807394, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 21.427475795900254, + -1744.725860569386, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 22.927475795900254, + -1742.1277843580326, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 24.427475795900254, + -1739.5297081466792, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 25.927475795900254, + -1736.9316319353259, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 27.427475795900254, + -1734.3335557239725, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 28.927475795900254, + -1731.7354795126191, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 30.427475795900254, + -1729.1374033012657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 31.927475795900254, + -1726.5393270899124, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 31.927475795900254, + -1726.5393270899124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 34.525552007253566, + -1725.0393270899124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 37.12362821860688, + -1723.5393270899124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 39.7217044299602, + -1722.0393270899124, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 42.319780641313514, + -1720.5393270899124, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -1696.0, + -213.853 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-37-54_1590079444/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-37-54_1590079444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f4b9dd46bf2170fe12f5dc4f9e4b4de74d7301a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-37-54_1590079444/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -60.42873968853836, + -1442.5556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -63.02681589989167, + -1444.0556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.62489211124499, + -1445.5556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -68.2229683225983, + -1447.0556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -70.82104453395162, + -1448.5556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -73.41912074530494, + -1450.0556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.01719695665825, + -1451.5556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -78.61527316801157, + -1453.0556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.21334937936489, + -1454.5556015451145, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -81.21334937936489, + -1454.5556015451145, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -82.71334937936489, + -1457.153677756468, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -84.21334937936489, + -1459.7517539678213, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -85.71334937936489, + -1462.3498301791747, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -87.21334937936489, + -1464.947906390528, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -88.71334937936489, + -1467.5459826018814, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -90.21334937936489, + -1470.1440588132348, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -91.71334937936489, + -1472.7421350245882, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -93.21334937936489, + -1475.3402112359415, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -94.71334937936489, + -1477.938287447295, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -96.21334937936489, + -1480.5363636586483, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -97.71334937936489, + -1483.1344398700016, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -99.21334937936489, + -1485.732516081355, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -100.71334937936489, + -1488.3305922927084, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -100.71334937936489, + -1488.3305922927084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -100.71334937936489, + -1491.3305922927084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -100.71334937936489, + -1494.3305922927084, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -100.71334937936489, + -1494.3305922927084, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -102.21334937936489, + -1496.9286685040618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -103.71334937936489, + -1499.5267447154151, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -105.21334937936489, + -1502.1248209267685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -106.71334937936489, + -1504.7228971381219, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -108.21334937936489, + -1507.3209733494753, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -108.21334937936489, + -1507.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -110.8114255907182, + -1508.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -113.40950180207152, + -1510.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -116.00757801342483, + -1511.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -118.60565422477815, + -1513.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -121.20373043613147, + -1514.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -123.80180664748478, + -1516.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -126.3998828588381, + -1517.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -128.99795907019143, + -1519.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -131.59603528154474, + -1520.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -134.19411149289806, + -1522.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -136.79218770425138, + -1523.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -139.3902639156047, + -1525.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -141.988340126958, + -1526.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -144.58641633831132, + -1528.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -147.18449254966464, + -1529.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -149.78256876101796, + -1531.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -152.38064497237127, + -1532.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -154.9787211837246, + -1534.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -157.5767973950779, + -1535.8209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -160.17487360643122, + -1537.3209733494753, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -162.77294981778454, + -1538.8209733494753, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-52-58_1642548899/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-52-58_1642548899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c96b04df3014d7b97e182f17958866fb176e8622 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-52-58_1642548899/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.5257157607188, + -1398.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.9276395493655, + -1396.7583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.3295633380122, + -1395.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 391.73148712665886, + -1393.7583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.13341091530555, + -1392.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 386.53533470395223, + -1390.7583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.9372584925989, + -1389.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 381.3391822812456, + -1387.7583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 378.7411060698923, + -1386.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 376.14302985853897, + -1384.7583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 373.54495364718565, + -1383.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 370.94687743583233, + -1381.7583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 368.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 368.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 365.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 362.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 359.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 356.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 353.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 350.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 347.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 344.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 341.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 338.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 335.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 332.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 329.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 326.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 320.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 317.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 314.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 311.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 311.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 311.348801224479, + -1380.2583298598142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 309.848801224479, + -1377.6602536484609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 308.348801224479, + -1375.0621774371075, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.848801224479, + -1372.4641012257541, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 305.348801224479, + -1369.8660250144007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 303.848801224479, + -1367.2679488030474, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 302.348801224479, + -1364.669872591694, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 300.848801224479, + -1362.0717963803406, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 299.348801224479, + -1359.4737201689873, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 297.848801224479, + -1356.8756439576339, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 296.348801224479, + -1354.2775677462805, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 294.848801224479, + -1351.6794915349271, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 293.348801224479, + -1349.0814153235738, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 291.848801224479, + -1346.4833391122204, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 290.348801224479, + -1343.885262900867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 288.848801224479, + -1341.2871866895136, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 288.848801224479, + -1341.2871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 286.2507250131257, + -1339.7871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 283.6526488017724, + -1338.2871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 281.05457259041907, + -1336.7871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 278.45649637906575, + -1335.2871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 275.85842016771244, + -1333.7871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 273.2603439563591, + -1332.2871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 270.6622677450058, + -1330.7871866895136, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 268.0641915336525, + -1329.2871866895136, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-59-36_1943327684/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-59-36_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b1cfae77fdd1d9e0557ac4e354508abcb444a0bf --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-59-36_1943327684/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 413.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 410.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 407.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 404.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 401.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 398.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 395.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 392.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 389.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 386.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 383.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 380.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 377.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 374.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 371.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 368.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 365.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 362.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 359.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 356.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 356.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 356.189448452301, + -1371.3920011524888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 354.689448452301, + -1373.9900773638421, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 353.189448452301, + -1376.5881535751955, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 353.189448452301, + -1376.5881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 350.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 350.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 347.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 344.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 341.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 338.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 335.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 332.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 329.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 326.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 323.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 320.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 317.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 314.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 311.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 308.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 305.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 302.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 299.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 296.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 293.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 290.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 287.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 284.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 281.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 278.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 275.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 275.5913722409477, + -1378.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 272.9932960295944, + -1376.5881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 270.39521981824106, + -1375.0881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 267.79714360688774, + -1373.5881535751955, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 265.1990673955344, + -1372.0881535751955, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-6-38_1789366143/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-6-38_1789366143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f26f12d8b9dab1eec26869617ef2edb9fc2a5b8a --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_22-6-38_1789366143/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -789.6641965675254, + -2041.7356262953986, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -788.1641965675254, + -2039.1375500840452, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -786.6641965675254, + -2036.5394738726918, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -785.1641965675254, + -2033.9413976613384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -783.6641965675254, + -2031.343321449985, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -782.1641965675254, + -2028.7452452386317, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -780.6641965675254, + -2026.1471690272783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -779.1641965675254, + -2023.549092815925, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -777.6641965675254, + -2020.9510166045716, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -776.1641965675254, + -2018.3529403932182, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -774.6641965675254, + -2015.7548641818648, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -773.1641965675254, + -2013.1567879705115, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -771.6641965675254, + -2010.558711759158, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -770.1641965675254, + -2007.9606355478047, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.6641965675254, + -2005.3625593364513, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.1641965675254, + -2002.764483125098, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.6641965675254, + -2000.1664069137446, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -764.1641965675254, + -1997.5683307023912, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -762.6641965675254, + -1994.9702544910378, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -761.1641965675254, + -1992.3721782796845, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -759.6641965675254, + -1989.774102068331, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -758.1641965675254, + -1987.1760258569777, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -756.6641965675254, + -1984.5779496456244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -755.1641965675254, + -1981.979873434271, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -753.6641965675254, + -1979.3817972229176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -752.1641965675254, + -1976.7837210115642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -750.6641965675254, + -1974.1856448002109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -749.1641965675254, + -1971.5875685888575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -747.6641965675254, + -1968.9894923775041, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -746.1641965675254, + -1966.3914161661507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -744.6641965675254, + -1963.7933399547974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -743.1641965675254, + -1961.195263743444, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -741.6641965675254, + -1958.5971875320906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -740.1641965675254, + -1955.9991113207373, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -738.6641965675254, + -1953.4010351093839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -737.1641965675254, + -1950.8029588980305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -735.6641965675254, + -1948.2048826866771, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -734.1641965675254, + -1945.6068064753238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -732.6641965675254, + -1943.0087302639704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -731.1641965675254, + -1940.410654052617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -729.6641965675254, + -1937.8125778412636, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -729.6641965675254, + -1937.8125778412636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -729.6641965675254, + -1934.8125778412636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -729.6641965675254, + -1931.8125778412636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -729.6641965675254, + -1928.8125778412636, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -729.6641965675254, + -1928.8125778412636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -728.1641965675254, + -1926.2145016299103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -726.6641965675254, + -1923.616425418557, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -726.6641965675254, + -1923.616425418557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -724.0661203561722, + -1922.116425418557, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -721.4680441448188, + -1920.616425418557, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -704.0, + -1896.0, + -203.555 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-22-51_195740084/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-22-51_195740084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7ced7006ebaa0fc6410b65395e0c5799e69fec6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-22-51_195740084/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1003.1696163052477, + -2789.914140077343, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1001.6696163052477, + -2792.512216288696, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1000.1696163052477, + -2795.110292500049, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1000.1696163052477, + -2795.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1000.1696163052477, + -2798.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1000.1696163052477, + -2801.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1000.1696163052477, + -2804.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1000.1696163052477, + -2807.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.1696163052477, + -2810.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1000.1696163052477, + -2813.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1000.1696163052477, + -2816.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1000.1696163052477, + -2819.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1000.1696163052477, + -2822.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1000.1696163052477, + -2825.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1000.1696163052477, + -2828.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.1696163052477, + -2831.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.1696163052477, + -2834.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1000.1696163052477, + -2837.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.1696163052477, + -2840.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.1696163052477, + -2843.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.1696163052477, + -2846.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.1696163052477, + -2849.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1000.1696163052477, + -2852.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1000.1696163052477, + -2855.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.1696163052477, + -2858.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.1696163052477, + -2861.110292500049, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.1696163052477, + -2861.110292500049, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -998.6696163052477, + -2863.7083687114023, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -997.1696163052477, + -2866.3064449227554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -995.6696163052477, + -2868.9045211341086, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -994.1696163052477, + -2871.5025973454617, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -992.6696163052477, + -2874.100673556815, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -991.1696163052477, + -2876.698749768168, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -989.6696163052477, + -2879.296825979521, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -988.1696163052477, + -2881.8949021908743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -986.6696163052477, + -2884.4929784022274, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -985.1696163052477, + -2887.0910546135806, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -983.6696163052477, + -2889.6891308249337, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -982.1696163052477, + -2892.287207036287, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -980.6696163052477, + -2894.88528324764, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -979.1696163052477, + -2897.483359458993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -977.6696163052477, + -2900.0814356703463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -976.1696163052477, + -2902.6795118816995, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -976.1696163052477, + -2902.6795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -973.5715400938943, + -2904.1795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -970.973463882541, + -2905.6795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -968.3753876711876, + -2907.1795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -965.7773114598342, + -2908.6795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -963.1792352484808, + -2910.1795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -960.5811590371275, + -2911.6795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -957.9830828257741, + -2913.1795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -955.3850066144207, + -2914.6795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -952.7869304030673, + -2916.1795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -950.188854191714, + -2917.6795118816995, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -947.5907779803606, + -2919.1795118816995, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-31-18_524688209/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-31-18_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4c548661fb01dd3e466ec2ed254dcdda1f551d7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-31-18_524688209/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1005.0989177323855, + -2800.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1005.0989177323855, + -2803.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1005.0989177323855, + -2806.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1005.0989177323855, + -2809.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1005.0989177323855, + -2812.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1005.0989177323855, + -2815.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1005.0989177323855, + -2818.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1005.0989177323855, + -2821.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1005.0989177323855, + -2824.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1005.0989177323855, + -2827.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1005.0989177323855, + -2830.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1005.0989177323855, + -2833.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1005.0989177323855, + -2836.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1005.0989177323855, + -2839.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1005.0989177323855, + -2842.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1005.0989177323855, + -2845.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1005.0989177323855, + -2848.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1005.0989177323855, + -2851.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1005.0989177323855, + -2854.4149517528335, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1005.0989177323855, + -2854.4149517528335, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1005.0989177323855, + -2854.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1002.5008415210323, + -2855.9149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -999.9027653096789, + -2857.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.3046890983255, + -2858.9149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -994.7066128869722, + -2860.4149517528335, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -994.7066128869722, + -2860.4149517528335, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -993.2066128869722, + -2863.0130279641867, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -991.7066128869722, + -2865.61110417554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -990.2066128869722, + -2868.209180386893, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -988.7066128869722, + -2870.807256598246, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.2066128869722, + -2873.4053328095993, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -985.7066128869722, + -2876.0034090209524, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -984.2066128869722, + -2878.6014852323055, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -982.7066128869722, + -2881.1995614436587, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -981.2066128869722, + -2883.797637655012, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -979.7066128869722, + -2886.395713866365, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -978.2066128869722, + -2888.993790077718, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -976.7066128869722, + -2891.5918662890713, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -975.2066128869722, + -2894.1899425004244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -973.7066128869722, + -2896.7880187117776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -972.2066128869722, + -2899.3860949231307, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -970.7066128869722, + -2901.984171134484, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -969.2066128869722, + -2904.582247345837, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -967.7066128869722, + -2907.18032355719, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -966.2066128869722, + -2909.7783997685433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -964.7066128869722, + -2912.3764759798964, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -964.7066128869722, + -2912.3764759798964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -962.1085366756188, + -2913.8764759798964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -959.5104604642654, + -2915.3764759798964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -956.912384252912, + -2916.8764759798964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -954.3143080415587, + -2918.3764759798964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -951.7162318302053, + -2919.8764759798964, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -949.1181556188519, + -2921.3764759798964, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-31-47_700108581/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-31-47_700108581/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4a39164ab2a98e8f0b5d674fd9340c1fec34dd7 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-31-47_700108581/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -69.47856326896989, + -1420.6351071460035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -70.97856326896989, + -1423.233183357357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.47856326896989, + -1425.8312595687103, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -73.97856326896989, + -1428.4293357800636, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -75.47856326896989, + -1431.027411991417, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.97856326896989, + -1433.6254882027704, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -78.47856326896989, + -1436.2235644141238, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -79.97856326896989, + -1438.8216406254771, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.47856326896989, + -1441.4197168368305, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.97856326896989, + -1444.0177930481839, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -84.47856326896989, + -1446.6158692595372, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -85.97856326896989, + -1449.2139454708906, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -87.47856326896989, + -1451.812021682244, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -88.97856326896989, + -1454.4100978935974, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -90.47856326896989, + -1457.0081741049507, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -91.97856326896989, + -1459.606250316304, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -93.47856326896989, + -1462.2043265276575, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -94.97856326896989, + -1464.8024027390109, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -96.47856326896989, + -1467.4004789503642, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -97.97856326896989, + -1469.9985551617176, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -99.47856326896989, + -1472.596631373071, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -100.97856326896989, + -1475.1947075844243, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -100.97856326896989, + -1475.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -100.97856326896989, + -1478.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -100.97856326896989, + -1481.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -100.97856326896989, + -1484.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -100.97856326896989, + -1487.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -100.97856326896989, + -1490.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -100.97856326896989, + -1493.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -100.97856326896989, + -1496.1947075844243, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -100.97856326896989, + -1496.1947075844243, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -100.97856326896989, + -1496.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -103.57663948032321, + -1497.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -106.17471569167652, + -1499.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -108.77279190302984, + -1500.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -111.37086811438316, + -1502.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -113.96894432573647, + -1503.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -116.56702053708979, + -1505.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -119.1650967484431, + -1506.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -121.76317295979642, + -1508.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -124.36124917114974, + -1509.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -126.95932538250305, + -1511.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -129.55740159385635, + -1512.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -132.15547780520967, + -1514.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -134.753554016563, + -1515.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -137.3516302279163, + -1517.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -139.94970643926962, + -1518.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -142.54778265062293, + -1520.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -145.14585886197625, + -1521.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -147.74393507332957, + -1523.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -150.34201128468288, + -1524.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -152.9400874960362, + -1526.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -155.53816370738951, + -1527.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -158.13623991874283, + -1529.1947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -160.73431613009615, + -1530.6947075844243, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -163.33239234144946, + -1532.1947075844243, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-35-43_11614769/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-35-43_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3f459a45f7a8b992ce4953633d82c791bbe1d39 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-35-43_11614769/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.4954720845195, + -1386.9044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 392.8973958731662, + -1385.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.2993196618129, + -1383.9044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 387.7012434504596, + -1382.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 385.10316723910626, + -1380.9044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 382.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 382.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 379.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 376.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 367.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 364.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 361.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 358.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 355.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 352.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 349.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 346.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 343.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 340.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 337.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 334.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 325.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 322.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 319.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 316.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 313.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 310.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 310.50509102775294, + -1379.4044694791762, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 309.00509102775294, + -1376.8063932678228, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 307.50509102775294, + -1374.2083170564695, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 306.00509102775294, + -1371.610240845116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 304.50509102775294, + -1369.0121646337627, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 303.00509102775294, + -1366.4140884224093, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 301.50509102775294, + -1363.816012211056, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 300.00509102775294, + -1361.2179359997026, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 298.50509102775294, + -1358.6198597883492, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 297.00509102775294, + -1356.0217835769959, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 295.50509102775294, + -1353.4237073656425, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 294.00509102775294, + -1350.825631154289, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 292.50509102775294, + -1348.2275549429357, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 291.00509102775294, + -1345.6294787315824, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 289.50509102775294, + -1343.031402520229, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 288.00509102775294, + -1340.4333263088756, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 288.00509102775294, + -1340.4333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 285.4070148163996, + -1338.9333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 282.8089386050463, + -1337.4333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 280.210862393693, + -1335.9333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 277.6127861823397, + -1334.4333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 275.01470997098636, + -1332.9333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 272.41663375963304, + -1331.4333263088756, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 269.8185575482797, + -1329.9333263088756, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1316.0, + -219.268 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-36-14_1682085273/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-36-14_1682085273/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28be36e83e6962164809b1034cd2f57a0b296c0e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-36-14_1682085273/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -105.30340580412836, + -1395.3852080369322, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -106.80340580412836, + -1397.9832842482856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -108.30340580412836, + -1400.581360459639, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -109.80340580412836, + -1403.1794366709923, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -111.30340580412836, + -1405.7775128823457, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -112.80340580412836, + -1408.375589093699, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -114.30340580412836, + -1410.9736653050525, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -115.80340580412836, + -1413.5717415164058, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -117.30340580412836, + -1416.1698177277592, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -118.80340580412836, + -1418.7678939391126, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -120.30340580412836, + -1421.365970150466, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -121.80340580412836, + -1423.9640463618193, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -123.30340580412836, + -1426.5621225731727, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -124.80340580412836, + -1429.160198784526, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -126.30340580412836, + -1431.7582749958794, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -127.80340580412836, + -1434.3563512072328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -129.30340580412835, + -1436.9544274185862, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393182 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.80340580412835, + -1439.5525036299396, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -132.30340580412835, + -1442.150579841293, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -133.80340580412835, + -1444.7486560526463, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -135.30340580412835, + -1447.3467322639997, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -136.80340580412835, + -1449.944808475353, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -138.30340580412835, + -1452.5428846867064, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -139.80340580412835, + -1455.1409608980598, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.30340580412835, + -1457.7390371094132, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -142.80340580412835, + -1460.3371133207665, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -144.30340580412835, + -1462.93518953212, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -145.80340580412835, + -1465.5332657434733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -147.30340580412835, + -1468.1313419548267, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -148.80340580412835, + -1470.72941816618, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -150.30340580412835, + -1473.3274943775334, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.80340580412835, + -1475.9255705888868, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.30340580412835, + -1478.5236468002402, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -154.80340580412835, + -1481.1217230115935, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -156.30340580412835, + -1483.719799222947, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -157.80340580412835, + -1486.3178754343003, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -159.30340580412835, + -1488.9159516456536, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -160.80340580412835, + -1491.514027857007, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -160.80340580412835, + -1491.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -160.80340580412835, + -1494.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -160.80340580412835, + -1497.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -160.80340580412835, + -1500.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -160.80340580412835, + -1503.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -160.80340580412835, + -1506.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -160.80340580412835, + -1509.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -160.80340580412835, + -1512.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -160.80340580412835, + -1515.514027857007, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -160.80340580412835, + -1518.514027857007, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-37-45_246247255/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-37-45_246247255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2986c91c625111fd98723b6c79c0c9c74d431012 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-37-45_246247255/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.0452974275644, + -1318.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.6433736389177, + -1316.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 400.241449850271, + -1315.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.8395260616243, + -1313.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.43760227297764, + -1312.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 408.03567848433096, + -1310.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 410.6337546956843, + -1309.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 413.2318309070376, + -1307.5035103772414, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.2318309070376, + -1307.5035103772414, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.2318309070376, + -1307.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 413.2318309070376, + -1304.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 413.2318309070376, + -1301.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.2318309070376, + -1298.5035103772414, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 413.2318309070376, + -1298.5035103772414, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 413.2318309070376, + -1298.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 415.8299071183909, + -1297.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 418.4279833297442, + -1295.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 421.02605954109754, + -1294.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 423.62413575245085, + -1292.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 426.22221196380417, + -1291.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 428.8202881751575, + -1289.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 431.4183643865108, + -1288.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 434.0164405978641, + -1286.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 436.61451680921743, + -1285.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 439.21259302057075, + -1283.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 441.81066923192407, + -1282.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 444.4087454432774, + -1280.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 447.0068216546307, + -1279.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 449.604897865984, + -1277.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 452.20297407733733, + -1276.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 454.80105028869065, + -1274.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 457.39912650004396, + -1273.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 459.9972027113973, + -1271.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 462.5952789227506, + -1270.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 465.1933551341039, + -1268.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 467.7914313454572, + -1267.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 470.38950755681054, + -1265.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 472.98758376816386, + -1264.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 475.5856599795172, + -1262.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 478.1837361908705, + -1261.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 480.7818124022238, + -1259.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 483.3798886135771, + -1258.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 485.97796482493044, + -1256.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 488.57604103628375, + -1255.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 491.17411724763707, + -1253.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 493.7721934589904, + -1252.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 496.3702696703437, + -1250.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 498.968345881697, + -1249.0035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 501.56642209305033, + -1247.5035103772414, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 501.56642209305033, + -1247.5035103772414, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 503.06642209305033, + -1244.905434165888, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 504.56642209305033, + -1242.3073579545346, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 528.0, + -1224.0, + -203.312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-41-40_1017679567/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-41-40_1017679567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97419c4ff49e0b7cc2faae804a723e5053e19ac6 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-41-40_1017679567/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -146.99365259583593, + -1581.7149117313884, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -148.49365259583593, + -1579.116835520035, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -149.99365259583593, + -1576.5187593086816, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -151.49365259583593, + -1573.9206830973283, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -152.99365259583593, + -1571.322606885975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -154.49365259583593, + -1568.7245306746215, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -155.99365259583593, + -1566.1264544632681, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -157.49365259583593, + -1563.5283782519148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -158.99365259583593, + -1560.9303020405614, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -158.99365259583593, + -1560.9303020405614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -158.99365259583593, + -1557.9303020405614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -158.99365259583593, + -1554.9303020405614, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -158.99365259583593, + -1554.9303020405614, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -160.49365259583593, + -1552.332225829208, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -161.99365259583593, + -1549.7341496178547, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -163.49365259583593, + -1547.1360734065013, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -164.99365259583593, + -1544.537997195148, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -166.49365259583593, + -1541.9399209837945, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -167.99365259583593, + -1539.3418447724412, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -169.49365259583593, + -1536.7437685610878, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -170.99365259583593, + -1534.1456923497344, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -172.49365259583593, + -1531.547616138381, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -173.99365259583593, + -1528.9495399270277, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -175.49365259583593, + -1526.3514637156743, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -176.99365259583593, + -1523.753387504321, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -178.49365259583593, + -1521.1553112929676, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -179.99365259583593, + -1518.5572350816142, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -181.49365259583593, + -1515.9591588702608, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -182.99365259583593, + -1513.3610826589074, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -184.49365259583593, + -1510.763006447554, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -184.49365259583593, + -1510.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -187.09172880718924, + -1509.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -189.68980501854256, + -1507.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -192.28788122989587, + -1506.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -194.8859574412492, + -1504.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -197.4840336526025, + -1503.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -200.08210986395582, + -1501.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -202.68018607530914, + -1500.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -205.27826228666245, + -1498.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -207.87633849801577, + -1497.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -210.47441470936909, + -1495.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -213.0724909207224, + -1494.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -215.67056713207572, + -1492.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -218.26864334342903, + -1491.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -220.86671955478235, + -1489.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -223.46479576613567, + -1488.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -226.06287197748898, + -1486.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -228.6609481888423, + -1485.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -231.2590244001956, + -1483.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -233.85710061154893, + -1482.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -236.45517682290225, + -1480.763006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -239.05325303425556, + -1479.263006447554, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -241.65132924560888, + -1477.763006447554, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -268.0, + -1452.0, + -201.911 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-49-36_255789528/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-49-36_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48bc5080949c0695186716812db6773028a6214e --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-49-36_255789528/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 369.76843332167425, + -1276.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 367.17035711032094, + -1277.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 364.5722808989676, + -1279.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 361.9742046876143, + -1280.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 359.376128476261, + -1282.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 356.77805226490767, + -1283.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 354.17997605355436, + -1285.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 351.58189984220104, + -1286.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 348.9838236308477, + -1288.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 346.3857474194944, + -1289.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 343.7876712081411, + -1291.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 341.1895949967878, + -1292.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 338.59151878543446, + -1294.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 335.99344257408114, + -1295.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.3953663627278, + -1297.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 330.7972901513745, + -1298.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.1992139400212, + -1300.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 325.6011377286679, + -1301.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 323.00306151731456, + -1303.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 320.40498530596125, + -1304.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 317.80690909460793, + -1306.3771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 315.2088328832546, + -1307.8771243446233, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 315.2088328832546, + -1307.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 312.2088328832546, + -1307.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.2088328832546, + -1307.8771243446233, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.2088328832546, + -1307.8771243446233, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.2088328832546, + -1307.8771243446233, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 307.7088328832546, + -1310.4752005559767, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 306.2088328832546, + -1313.07327676733, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 304.7088328832546, + -1315.6713529786834, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.2088328832546, + -1318.2694291900368, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 301.7088328832546, + -1320.8675054013902, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 300.2088328832546, + -1323.4655816127436, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 298.7088328832546, + -1326.063657824097, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.2088328832546, + -1328.6617340354503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 295.7088328832546, + -1331.2598102468037, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 294.2088328832546, + -1333.857886458157, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 292.7088328832546, + -1336.4559626695104, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 292.7088328832546, + -1336.4559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 290.1107566719013, + -1337.9559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 287.512680460548, + -1339.4559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 284.91460424919467, + -1340.9559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 282.31652803784135, + -1342.4559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 279.71845182648804, + -1343.9559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 277.1203756151347, + -1345.4559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 274.5222994037814, + -1346.9559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 271.9242231924281, + -1348.4559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 269.32614698107477, + -1349.9559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 266.72807076972146, + -1351.4559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 264.12999455836814, + -1352.9559626695104, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 261.5319183470148, + -1354.4559626695104, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.0, + -1372.0, + -205.963 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-6-45_1469262009/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-6-45_1469262009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f0c97a8c53477644c92c0eed6600ce22cb2acf4 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-6-45_1469262009/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1022.5982581368617, + -2779.5985116793245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1021.0982581368617, + -2782.1965878906776, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1019.5982581368617, + -2784.7946641020308, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1018.0982581368617, + -2787.392740313384, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1016.5982581368617, + -2789.990816524737, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1015.0982581368617, + -2792.58889273609, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1013.5982581368617, + -2795.1869689474433, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1012.0982581368617, + -2797.7850451587965, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1010.5982581368617, + -2800.3831213701496, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1009.0982581368617, + -2802.981197581503, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1007.5982581368617, + -2805.579273792856, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1006.0982581368617, + -2808.177350004209, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1004.5982581368617, + -2810.775426215562, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1003.0982581368617, + -2813.3735024269154, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1001.5982581368617, + -2815.9715786382685, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.0982581368617, + -2818.5696548496217, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1000.0982581368617, + -2818.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948681 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1000.0982581368617, + -2821.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1000.0982581368617, + -2824.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1000.0982581368617, + -2827.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1000.0982581368617, + -2830.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1000.0982581368617, + -2833.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1000.0982581368617, + -2836.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1000.0982581368617, + -2839.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.0982581368617, + -2842.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1000.0982581368617, + -2845.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.0982581368617, + -2848.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1000.0982581368617, + -2851.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1000.0982581368617, + -2854.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1000.0982581368617, + -2857.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -1000.0982581368617, + -2860.5696548496217, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1000.0982581368617, + -2860.5696548496217, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1000.0982581368617, + -2860.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -997.5001819255083, + -2862.0696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -994.9021057141549, + -2863.5696548496217, + -207.99076791761004 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -994.9021057141549, + -2863.5696548496217, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -993.4021057141549, + -2866.167731060975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -991.9021057141549, + -2868.765807272328, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -990.4021057141549, + -2871.363883483681, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -988.9021057141549, + -2873.9619596950342, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -987.4021057141549, + -2876.5600359063874, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -985.9021057141549, + -2879.1581121177405, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -984.4021057141549, + -2881.7561883290937, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -982.9021057141549, + -2884.354264540447, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -981.4021057141549, + -2886.9523407518, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -979.9021057141549, + -2889.550416963153, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -978.4021057141549, + -2892.1484931745063, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -976.9021057141549, + -2894.7465693858594, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -975.4021057141549, + -2897.3446455972125, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -973.9021057141549, + -2899.9427218085657, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -972.4021057141549, + -2902.540798019919, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -970.9021057141549, + -2905.138874231272, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -969.4021057141549, + -2907.736950442625, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -967.9021057141549, + -2910.3350266539783, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965694 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -967.9021057141549, + -2910.3350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982706 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -965.3040295028015, + -2911.8350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + -962.7059532914482, + -2913.3350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + -960.1078770800948, + -2914.8350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + -957.5098008687414, + -2916.3350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + -954.911724657388, + -2917.8350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + -952.3136484460347, + -2919.3350266539783, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + -949.7155722346813, + -2920.8350266539783, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -940.0, + -2936.0, + -205.779 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-9-26_1799878206/pose.jsonl b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-9-26_1799878206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2116ab51a8f47049ede3027bc597af44d831a089 --- /dev/null +++ b/Image/env_airsim_26/astar_data/high_long/2025-1-9_23-9-26_1799878206/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -100.17012219489791, + -1427.8091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.76819840625123, + -1429.3091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -105.36627461760455, + -1430.8091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -107.96435082895786, + -1432.3091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -110.56242704031118, + -1433.8091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -113.1605032516645, + -1435.3091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -115.75857946301781, + -1436.8091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -118.35665567437113, + -1438.3091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -120.95473188572444, + -1439.8091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.55280809707776, + -1441.3091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -126.15088430843107, + -1442.8091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -128.7489605197844, + -1444.3091303153908, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -128.7489605197844, + -1444.3091303153908, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -130.2489605197844, + -1446.9072065267442, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -131.7489605197844, + -1449.5052827380975, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -133.2489605197844, + -1452.103358949451, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -134.7489605197844, + -1454.7014351608043, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -136.2489605197844, + -1457.2995113721577, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -137.7489605197844, + -1459.897587583511, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -139.2489605197844, + -1462.4956637948644, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -140.7489605197844, + -1465.0937400062178, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -142.2489605197844, + -1467.6918162175712, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -143.7489605197844, + -1470.2898924289245, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -145.2489605197844, + -1472.887968640278, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -146.7489605197844, + -1475.4860448516313, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -148.2489605197844, + -1478.0841210629847, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -149.7489605197844, + -1480.682197274338, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -151.2489605197844, + -1483.2802734856914, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -152.7489605197844, + -1485.8783496970448, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -154.2489605197844, + -1488.4764259083981, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -155.7489605197844, + -1491.0745021197515, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -157.2489605197844, + -1493.672578331105, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -158.7489605197844, + -1496.2706545424583, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -160.2489605197844, + -1498.8687307538116, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -161.7489605197844, + -1501.466806965165, + -207.99076791761004 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -161.7489605197844, + -1501.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -161.7489605197844, + -1504.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -161.7489605197844, + -1507.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -161.7489605197844, + -1510.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -161.7489605197844, + -1513.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -161.7489605197844, + -1516.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -161.7489605197844, + -1519.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -161.7489605197844, + -1522.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -161.7489605197844, + -1525.466806965165, + -207.99076791761004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -161.7489605197844, + -1528.466806965165, + -207.99076791761004 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -180.0, + -1556.0, + -205.885 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +}