Add files using upload-large-folder tool
Browse files- Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-55-58_201796/pose.jsonl +665 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-10-33_528548/pose.jsonl +535 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-12-51_227180/pose.jsonl +444 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-35-59_247442/pose.jsonl +405 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-04-48_621999/pose.jsonl +483 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-12-27_819614/pose.jsonl +561 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-22-19_260538/pose.jsonl +535 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-37-14_342805/pose.jsonl +639 -0
- Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-14-55_198806/pose.jsonl +431 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-51-57_1914544919/pose.jsonl +431 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-53-7_1734575198/pose.jsonl +171 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_20-0-39_1159126505/pose.jsonl +379 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_20-6-45_1374344043/pose.jsonl +457 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-2-36_1987231011/pose.jsonl +522 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-21-50_1789376348/pose.jsonl +535 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-33-42_238962600/pose.jsonl +626 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-36-29_1665947468/pose.jsonl +678 -0
- Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-18-17_1927495994/pose.jsonl +262 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_10-12-09_307143/pose.jsonl +660 -0
- Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-52-55_414807/pose.jsonl +622 -0
Image/env_airsim_sh/astar_data/low_average/2025-01-18_22-55-58_201796/pose.jsonl
ADDED
|
@@ -0,0 +1,665 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1511.3661087894009,
|
| 6 |
+
842.9495710877337,
|
| 7 |
+
21.233041141931015
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1513.9641850007542,
|
| 19 |
+
841.4495710877337,
|
| 20 |
+
21.233041141931015
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1516.5622612121076,
|
| 32 |
+
839.9495710877337,
|
| 33 |
+
21.233041141931015
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1519.160337423461,
|
| 45 |
+
838.4495710877337,
|
| 46 |
+
21.233041141931015
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1521.7584136348144,
|
| 58 |
+
836.9495710877337,
|
| 59 |
+
21.233041141931015
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1524.3564898461677,
|
| 71 |
+
835.4495710877337,
|
| 72 |
+
21.233041141931015
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1526.954566057521,
|
| 84 |
+
833.9495710877337,
|
| 85 |
+
21.233041141931015
|
| 86 |
+
],
|
| 87 |
+
"type": "go up",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1526.954566057521,
|
| 97 |
+
833.9495710877337,
|
| 98 |
+
24.233041141931015
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1529.5526422688745,
|
| 110 |
+
832.4495710877337,
|
| 111 |
+
24.233041141931015
|
| 112 |
+
],
|
| 113 |
+
"type": "go up",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1529.5526422688745,
|
| 123 |
+
832.4495710877337,
|
| 124 |
+
27.233041141931015
|
| 125 |
+
],
|
| 126 |
+
"type": "go up",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1529.5526422688745,
|
| 136 |
+
832.4495710877337,
|
| 137 |
+
30.233041141931015
|
| 138 |
+
],
|
| 139 |
+
"type": "turn right",
|
| 140 |
+
"value": 30,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1529.5526422688745,
|
| 149 |
+
832.4495710877337,
|
| 150 |
+
30.233041141931015
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -3.1415926535898024
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1532.5526422688745,
|
| 162 |
+
832.4495710877337,
|
| 163 |
+
30.233041141931015
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1535.5526422688745,
|
| 175 |
+
832.4495710877337,
|
| 176 |
+
30.233041141931015
|
| 177 |
+
],
|
| 178 |
+
"type": "go up",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1535.5526422688745,
|
| 188 |
+
832.4495710877337,
|
| 189 |
+
33.23304114193101
|
| 190 |
+
],
|
| 191 |
+
"type": "go up",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1535.5526422688745,
|
| 201 |
+
832.4495710877337,
|
| 202 |
+
36.23304114193101
|
| 203 |
+
],
|
| 204 |
+
"type": "turn left",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1535.5526422688745,
|
| 214 |
+
832.4495710877337,
|
| 215 |
+
36.23304114193101
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.665191429188092
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1538.1507184802279,
|
| 227 |
+
830.9495710877337,
|
| 228 |
+
36.23304114193101
|
| 229 |
+
],
|
| 230 |
+
"type": "go up",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.665191429188092
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1538.1507184802279,
|
| 240 |
+
830.9495710877337,
|
| 241 |
+
39.23304114193101
|
| 242 |
+
],
|
| 243 |
+
"type": "go up",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.665191429188092
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1538.1507184802279,
|
| 253 |
+
830.9495710877337,
|
| 254 |
+
42.23304114193101
|
| 255 |
+
],
|
| 256 |
+
"type": "go up",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.665191429188092
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1538.1507184802279,
|
| 266 |
+
830.9495710877337,
|
| 267 |
+
45.23304114193101
|
| 268 |
+
],
|
| 269 |
+
"type": "go up",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 3.665191429188092
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1538.1507184802279,
|
| 279 |
+
830.9495710877337,
|
| 280 |
+
48.23304114193101
|
| 281 |
+
],
|
| 282 |
+
"type": "turn right",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": 3.665191429188092
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1538.1507184802279,
|
| 292 |
+
830.9495710877337,
|
| 293 |
+
48.23304114193101
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1541.1507184802279,
|
| 305 |
+
830.9495710877337,
|
| 306 |
+
48.23304114193101
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 3.141592653589793
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1544.1507184802279,
|
| 318 |
+
830.9495710877337,
|
| 319 |
+
48.23304114193101
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 3.141592653589793
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1547.1507184802279,
|
| 331 |
+
830.9495710877337,
|
| 332 |
+
48.23304114193101
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 3.141592653589793
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1550.1507184802279,
|
| 344 |
+
830.9495710877337,
|
| 345 |
+
48.23304114193101
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 3.141592653589793
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1553.1507184802279,
|
| 357 |
+
830.9495710877337,
|
| 358 |
+
48.23304114193101
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 3.141592653589793
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1556.1507184802279,
|
| 370 |
+
830.9495710877337,
|
| 371 |
+
48.23304114193101
|
| 372 |
+
],
|
| 373 |
+
"type": "turn left",
|
| 374 |
+
"value": 30,
|
| 375 |
+
"yaw": 3.141592653589793
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1556.1507184802279,
|
| 383 |
+
830.9495710877337,
|
| 384 |
+
48.23304114193101
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 3.665191429188092
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1558.7487946915812,
|
| 396 |
+
829.4495710877337,
|
| 397 |
+
48.23304114193101
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.6179938779915037
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1561.3468709029346,
|
| 409 |
+
827.9495710877337,
|
| 410 |
+
48.23304114193101
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -2.6179938779915037
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1563.944947114288,
|
| 422 |
+
826.4495710877337,
|
| 423 |
+
48.23304114193101
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -2.6179938779915037
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-1566.5430233256413,
|
| 435 |
+
824.9495710877337,
|
| 436 |
+
48.23304114193101
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -2.6179938779915037
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-1569.1410995369947,
|
| 448 |
+
823.4495710877337,
|
| 449 |
+
48.23304114193101
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": -2.6179938779915037
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-1571.739175748348,
|
| 461 |
+
821.9495710877337,
|
| 462 |
+
48.23304114193101
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": -2.6179938779915037
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-1574.3372519597015,
|
| 474 |
+
820.4495710877337,
|
| 475 |
+
48.23304114193101
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": -2.6179938779915037
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-1576.9353281710548,
|
| 487 |
+
818.9495710877337,
|
| 488 |
+
48.23304114193101
|
| 489 |
+
],
|
| 490 |
+
"type": "go down",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": -2.6179938779915037
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-1576.9353281710548,
|
| 500 |
+
818.9495710877337,
|
| 501 |
+
45.23304114193101
|
| 502 |
+
],
|
| 503 |
+
"type": "go down",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": -2.6179938779915037
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
-1576.9353281710548,
|
| 513 |
+
818.9495710877337,
|
| 514 |
+
42.23304114193101
|
| 515 |
+
],
|
| 516 |
+
"type": "go down",
|
| 517 |
+
"value": 3,
|
| 518 |
+
"yaw": -2.6179938779915037
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"action": {
|
| 523 |
+
"imageid": 40,
|
| 524 |
+
"pos": [
|
| 525 |
+
-1576.9353281710548,
|
| 526 |
+
818.9495710877337,
|
| 527 |
+
39.23304114193101
|
| 528 |
+
],
|
| 529 |
+
"type": "go down",
|
| 530 |
+
"value": 3,
|
| 531 |
+
"yaw": -2.6179938779915037
|
| 532 |
+
}
|
| 533 |
+
}
|
| 534 |
+
{
|
| 535 |
+
"action": {
|
| 536 |
+
"imageid": 41,
|
| 537 |
+
"pos": [
|
| 538 |
+
-1576.9353281710548,
|
| 539 |
+
818.9495710877337,
|
| 540 |
+
36.23304114193101
|
| 541 |
+
],
|
| 542 |
+
"type": "go down",
|
| 543 |
+
"value": 3,
|
| 544 |
+
"yaw": -2.6179938779915037
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
{
|
| 548 |
+
"action": {
|
| 549 |
+
"imageid": 42,
|
| 550 |
+
"pos": [
|
| 551 |
+
-1576.9353281710548,
|
| 552 |
+
818.9495710877337,
|
| 553 |
+
33.23304114193101
|
| 554 |
+
],
|
| 555 |
+
"type": "go down",
|
| 556 |
+
"value": 3,
|
| 557 |
+
"yaw": -2.6179938779915037
|
| 558 |
+
}
|
| 559 |
+
}
|
| 560 |
+
{
|
| 561 |
+
"action": {
|
| 562 |
+
"imageid": 43,
|
| 563 |
+
"pos": [
|
| 564 |
+
-1576.9353281710548,
|
| 565 |
+
818.9495710877337,
|
| 566 |
+
30.23304114193101
|
| 567 |
+
],
|
| 568 |
+
"type": "go down",
|
| 569 |
+
"value": 3,
|
| 570 |
+
"yaw": -2.6179938779915037
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
{
|
| 574 |
+
"action": {
|
| 575 |
+
"imageid": 44,
|
| 576 |
+
"pos": [
|
| 577 |
+
-1576.9353281710548,
|
| 578 |
+
818.9495710877337,
|
| 579 |
+
27.23304114193101
|
| 580 |
+
],
|
| 581 |
+
"type": "go down",
|
| 582 |
+
"value": 3,
|
| 583 |
+
"yaw": -2.6179938779915037
|
| 584 |
+
}
|
| 585 |
+
}
|
| 586 |
+
{
|
| 587 |
+
"action": {
|
| 588 |
+
"imageid": 45,
|
| 589 |
+
"pos": [
|
| 590 |
+
-1576.9353281710548,
|
| 591 |
+
818.9495710877337,
|
| 592 |
+
24.23304114193101
|
| 593 |
+
],
|
| 594 |
+
"type": "turn left",
|
| 595 |
+
"value": 30,
|
| 596 |
+
"yaw": -2.6179938779915037
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
{
|
| 600 |
+
"action": {
|
| 601 |
+
"imageid": 46,
|
| 602 |
+
"pos": [
|
| 603 |
+
-1576.9353281710548,
|
| 604 |
+
818.9495710877337,
|
| 605 |
+
24.23304114193101
|
| 606 |
+
],
|
| 607 |
+
"type": "go straight",
|
| 608 |
+
"value": 3,
|
| 609 |
+
"yaw": -2.094395102393205
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
{
|
| 613 |
+
"action": {
|
| 614 |
+
"imageid": 47,
|
| 615 |
+
"pos": [
|
| 616 |
+
-1578.4353281710548,
|
| 617 |
+
816.3514948763805,
|
| 618 |
+
24.23304114193101
|
| 619 |
+
],
|
| 620 |
+
"type": "go straight",
|
| 621 |
+
"value": 3,
|
| 622 |
+
"yaw": -2.094395102393205
|
| 623 |
+
}
|
| 624 |
+
}
|
| 625 |
+
{
|
| 626 |
+
"action": {
|
| 627 |
+
"imageid": 48,
|
| 628 |
+
"pos": [
|
| 629 |
+
-1579.9353281710548,
|
| 630 |
+
813.7534186650271,
|
| 631 |
+
24.23304114193101
|
| 632 |
+
],
|
| 633 |
+
"type": "go down",
|
| 634 |
+
"value": 3,
|
| 635 |
+
"yaw": -2.094395102393205
|
| 636 |
+
}
|
| 637 |
+
}
|
| 638 |
+
{
|
| 639 |
+
"action": {
|
| 640 |
+
"imageid": 49,
|
| 641 |
+
"pos": [
|
| 642 |
+
-1579.9353281710548,
|
| 643 |
+
813.7534186650271,
|
| 644 |
+
21.23304114193101
|
| 645 |
+
],
|
| 646 |
+
"type": "stop",
|
| 647 |
+
"value": 0,
|
| 648 |
+
"yaw": -2.094395102393205
|
| 649 |
+
}
|
| 650 |
+
}
|
| 651 |
+
{
|
| 652 |
+
"aim_landmark": {
|
| 653 |
+
"color": "test",
|
| 654 |
+
"feature": "test",
|
| 655 |
+
"position": [
|
| 656 |
+
-1644.0,
|
| 657 |
+
784.0,
|
| 658 |
+
0.0
|
| 659 |
+
],
|
| 660 |
+
"shape": "test",
|
| 661 |
+
"dir": "right",
|
| 662 |
+
"size": "test",
|
| 663 |
+
"type": "building"
|
| 664 |
+
}
|
| 665 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-10-33_528548/pose.jsonl
ADDED
|
@@ -0,0 +1,535 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1537.7101646129215,
|
| 6 |
+
-800.5674648883042,
|
| 7 |
+
29.81451086850799
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965883
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1536.2101646129215,
|
| 19 |
+
-797.969388676951,
|
| 20 |
+
29.81451086850799
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965883
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1534.7101646129215,
|
| 32 |
+
-795.3713124655976,
|
| 33 |
+
29.81451086850799
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511966072
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1533.2101646129215,
|
| 45 |
+
-792.7732362542442,
|
| 46 |
+
29.81451086850799
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511966072
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1531.7101646129215,
|
| 58 |
+
-790.1751600428909,
|
| 59 |
+
29.81451086850799
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511966072
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1530.2101646129215,
|
| 71 |
+
-787.5770838315375,
|
| 72 |
+
29.81451086850799
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511966072
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1528.7101646129215,
|
| 84 |
+
-784.9790076201841,
|
| 85 |
+
29.81451086850799
|
| 86 |
+
],
|
| 87 |
+
"type": "go up",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511966072
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1528.7101646129215,
|
| 97 |
+
-784.9790076201841,
|
| 98 |
+
32.814510868507995
|
| 99 |
+
],
|
| 100 |
+
"type": "go up",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1528.7101646129215,
|
| 110 |
+
-784.9790076201841,
|
| 111 |
+
35.814510868507995
|
| 112 |
+
],
|
| 113 |
+
"type": "go up",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1528.7101646129215,
|
| 123 |
+
-784.9790076201841,
|
| 124 |
+
38.814510868507995
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1527.2101646129215,
|
| 136 |
+
-782.3809314088307,
|
| 137 |
+
38.814510868507995
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1525.7101646129215,
|
| 149 |
+
-779.7828551974774,
|
| 150 |
+
38.814510868507995
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1524.2101646129215,
|
| 162 |
+
-777.184778986124,
|
| 163 |
+
38.814510868507995
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1522.7101646129215,
|
| 175 |
+
-774.5867027747706,
|
| 176 |
+
38.814510868507995
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1521.2101646129215,
|
| 188 |
+
-771.9886265634173,
|
| 189 |
+
38.814510868507995
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1519.7101646129215,
|
| 201 |
+
-769.3905503520639,
|
| 202 |
+
38.814510868507995
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1518.2101646129215,
|
| 214 |
+
-766.7924741407105,
|
| 215 |
+
38.814510868507995
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1516.7101646129215,
|
| 227 |
+
-764.1943979293571,
|
| 228 |
+
38.814510868507995
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511966072
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1515.2101646129215,
|
| 240 |
+
-761.5963217180038,
|
| 241 |
+
38.814510868507995
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1513.7101646129215,
|
| 253 |
+
-758.9982455066504,
|
| 254 |
+
38.814510868507995
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1512.2101646129215,
|
| 266 |
+
-756.400169295297,
|
| 267 |
+
38.814510868507995
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1510.7101646129215,
|
| 279 |
+
-753.8020930839436,
|
| 280 |
+
38.814510868507995
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.0471975511966072
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1509.2101646129215,
|
| 292 |
+
-751.2040168725903,
|
| 293 |
+
38.814510868507995
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1507.7101646129215,
|
| 305 |
+
-748.6059406612369,
|
| 306 |
+
38.814510868507995
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1506.2101646129215,
|
| 318 |
+
-746.0078644498835,
|
| 319 |
+
38.814510868507995
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.0471975511966072
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1504.7101646129215,
|
| 331 |
+
-743.4097882385302,
|
| 332 |
+
38.814510868507995
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 1.0471975511966072
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1503.2101646129215,
|
| 344 |
+
-740.8117120271768,
|
| 345 |
+
38.814510868507995
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 1.0471975511966072
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1501.7101646129215,
|
| 357 |
+
-738.2136358158234,
|
| 358 |
+
38.814510868507995
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 1.0471975511966072
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1500.2101646129215,
|
| 370 |
+
-735.61555960447,
|
| 371 |
+
38.814510868507995
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 1.0471975511966072
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1498.7101646129215,
|
| 383 |
+
-733.0174833931167,
|
| 384 |
+
38.814510868507995
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 1.0471975511966072
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1497.2101646129215,
|
| 396 |
+
-730.4194071817633,
|
| 397 |
+
38.814510868507995
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 1.0471975511966072
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1495.7101646129215,
|
| 409 |
+
-727.8213309704099,
|
| 410 |
+
38.814510868507995
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 1.0471975511966072
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1494.2101646129215,
|
| 422 |
+
-725.2232547590565,
|
| 423 |
+
38.814510868507995
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 1.0471975511966072
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-1492.7101646129215,
|
| 435 |
+
-722.6251785477032,
|
| 436 |
+
38.814510868507995
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 1.0471975511966072
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-1491.2101646129215,
|
| 448 |
+
-720.0271023363498,
|
| 449 |
+
38.814510868507995
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 1.0471975511966072
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-1489.7101646129215,
|
| 461 |
+
-717.4290261249964,
|
| 462 |
+
38.814510868507995
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 1.0471975511966072
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-1488.2101646129215,
|
| 474 |
+
-714.830949913643,
|
| 475 |
+
38.814510868507995
|
| 476 |
+
],
|
| 477 |
+
"type": "go down",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": 1.0471975511966072
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-1488.2101646129215,
|
| 487 |
+
-714.830949913643,
|
| 488 |
+
35.814510868507995
|
| 489 |
+
],
|
| 490 |
+
"type": "go down",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": 1.0471975511966072
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-1488.2101646129215,
|
| 500 |
+
-714.830949913643,
|
| 501 |
+
32.814510868507995
|
| 502 |
+
],
|
| 503 |
+
"type": "go down",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": 1.0471975511966072
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
-1488.2101646129215,
|
| 513 |
+
-714.830949913643,
|
| 514 |
+
29.814510868507995
|
| 515 |
+
],
|
| 516 |
+
"type": "stop",
|
| 517 |
+
"value": 0,
|
| 518 |
+
"yaw": 1.0471975511966072
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"aim_landmark": {
|
| 523 |
+
"color": "test",
|
| 524 |
+
"feature": "test",
|
| 525 |
+
"position": [
|
| 526 |
+
-1476.0,
|
| 527 |
+
-692.0,
|
| 528 |
+
0.0
|
| 529 |
+
],
|
| 530 |
+
"shape": "test",
|
| 531 |
+
"dir": "center",
|
| 532 |
+
"size": "test",
|
| 533 |
+
"type": "building"
|
| 534 |
+
}
|
| 535 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-12-51_227180/pose.jsonl
ADDED
|
@@ -0,0 +1,444 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1730.4953048381924,
|
| 6 |
+
677.3737697221515,
|
| 7 |
+
38.135177911800746
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982894
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1727.897228626839,
|
| 19 |
+
678.8737697221515,
|
| 20 |
+
38.135177911800746
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982894
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1725.2991524154857,
|
| 32 |
+
680.3737697221515,
|
| 33 |
+
38.135177911800746
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982894
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1722.7010762041323,
|
| 45 |
+
681.8737697221515,
|
| 46 |
+
38.135177911800746
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982894
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1720.102999992779,
|
| 58 |
+
683.3737697221515,
|
| 59 |
+
38.135177911800746
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982894
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1717.5049237814255,
|
| 71 |
+
684.8737697221515,
|
| 72 |
+
38.135177911800746
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982894
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1714.9068475700722,
|
| 84 |
+
686.3737697221515,
|
| 85 |
+
38.135177911800746
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1712.3087713587188,
|
| 97 |
+
687.8737697221515,
|
| 98 |
+
38.135177911800746
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1709.7106951473654,
|
| 110 |
+
689.3737697221515,
|
| 111 |
+
38.135177911800746
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1707.112618936012,
|
| 123 |
+
690.8737697221515,
|
| 124 |
+
38.135177911800746
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1704.5145427246587,
|
| 136 |
+
692.3737697221515,
|
| 137 |
+
38.135177911800746
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1701.9164665133053,
|
| 149 |
+
693.8737697221515,
|
| 150 |
+
38.135177911800746
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1699.318390301952,
|
| 162 |
+
695.3737697221515,
|
| 163 |
+
38.135177911800746
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982894
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1696.7203140905985,
|
| 175 |
+
696.8737697221515,
|
| 176 |
+
38.135177911800746
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982894
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1694.1222378792452,
|
| 188 |
+
698.3737697221515,
|
| 189 |
+
38.135177911800746
|
| 190 |
+
],
|
| 191 |
+
"type": "go up",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982894
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1694.1222378792452,
|
| 201 |
+
698.3737697221515,
|
| 202 |
+
41.135177911800746
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1691.5241616678918,
|
| 214 |
+
699.8737697221515,
|
| 215 |
+
41.135177911800746
|
| 216 |
+
],
|
| 217 |
+
"type": "go up",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1691.5241616678918,
|
| 227 |
+
699.8737697221515,
|
| 228 |
+
44.135177911800746
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1688.9260854565384,
|
| 240 |
+
701.3737697221515,
|
| 241 |
+
44.135177911800746
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1686.328009245185,
|
| 253 |
+
702.8737697221515,
|
| 254 |
+
44.135177911800746
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1683.7299330338317,
|
| 266 |
+
704.3737697221515,
|
| 267 |
+
44.135177911800746
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1681.1318568224783,
|
| 279 |
+
705.8737697221515,
|
| 280 |
+
44.135177911800746
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1678.533780611125,
|
| 292 |
+
707.3737697221515,
|
| 293 |
+
44.135177911800746
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1675.9357043997716,
|
| 305 |
+
708.8737697221515,
|
| 306 |
+
44.135177911800746
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1673.3376281884182,
|
| 318 |
+
710.3737697221515,
|
| 319 |
+
44.135177911800746
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1670.7395519770648,
|
| 331 |
+
711.8737697221515,
|
| 332 |
+
44.135177911800746
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1668.1414757657114,
|
| 344 |
+
713.3737697221515,
|
| 345 |
+
44.135177911800746
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1665.543399554358,
|
| 357 |
+
714.8737697221515,
|
| 358 |
+
44.135177911800746
|
| 359 |
+
],
|
| 360 |
+
"type": "turn right",
|
| 361 |
+
"value": 30,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1665.543399554358,
|
| 370 |
+
714.8737697221515,
|
| 371 |
+
44.135177911800746
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -9.43689570931383e-15
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1662.543399554358,
|
| 383 |
+
714.8737697221515,
|
| 384 |
+
44.135177911800746
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 0.0
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1659.543399554358,
|
| 396 |
+
714.8737697221515,
|
| 397 |
+
44.135177911800746
|
| 398 |
+
],
|
| 399 |
+
"type": "go down",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 0.0
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1659.543399554358,
|
| 409 |
+
714.8737697221515,
|
| 410 |
+
41.135177911800746
|
| 411 |
+
],
|
| 412 |
+
"type": "go down",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 0.0
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1659.543399554358,
|
| 422 |
+
714.8737697221515,
|
| 423 |
+
38.135177911800746
|
| 424 |
+
],
|
| 425 |
+
"type": "stop",
|
| 426 |
+
"value": 0,
|
| 427 |
+
"yaw": 0.0
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"aim_landmark": {
|
| 432 |
+
"color": "test",
|
| 433 |
+
"feature": "test",
|
| 434 |
+
"position": [
|
| 435 |
+
-1640.0,
|
| 436 |
+
724.0,
|
| 437 |
+
0.0
|
| 438 |
+
],
|
| 439 |
+
"shape": "test",
|
| 440 |
+
"dir": "center",
|
| 441 |
+
"size": "test",
|
| 442 |
+
"type": "building"
|
| 443 |
+
}
|
| 444 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-18_23-35-59_247442/pose.jsonl
ADDED
|
@@ -0,0 +1,405 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1586.5602333452266,
|
| 6 |
+
55.70430584697537,
|
| 7 |
+
17.76119522028186
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1585.0602333452266,
|
| 19 |
+
58.30238205832869,
|
| 20 |
+
17.76119522028186
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1583.5602333452266,
|
| 32 |
+
60.900458269682005,
|
| 33 |
+
17.76119522028186
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1582.0602333452266,
|
| 45 |
+
63.49853448103532,
|
| 46 |
+
17.76119522028186
|
| 47 |
+
],
|
| 48 |
+
"type": "go up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1582.0602333452266,
|
| 58 |
+
63.49853448103532,
|
| 59 |
+
20.76119522028186
|
| 60 |
+
],
|
| 61 |
+
"type": "go up",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1582.0602333452266,
|
| 71 |
+
63.49853448103532,
|
| 72 |
+
23.76119522028186
|
| 73 |
+
],
|
| 74 |
+
"type": "go up",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1582.0602333452266,
|
| 84 |
+
63.49853448103532,
|
| 85 |
+
26.76119522028186
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1580.5602333452266,
|
| 97 |
+
66.09661069238864,
|
| 98 |
+
26.76119522028186
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1579.0602333452266,
|
| 110 |
+
68.69468690374195,
|
| 111 |
+
26.76119522028186
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1577.5602333452266,
|
| 123 |
+
71.29276311509527,
|
| 124 |
+
26.76119522028186
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1576.0602333452266,
|
| 136 |
+
73.89083932644859,
|
| 137 |
+
26.76119522028186
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1574.5602333452266,
|
| 149 |
+
76.4889155378019,
|
| 150 |
+
26.76119522028186
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1573.0602333452266,
|
| 162 |
+
79.08699174915522,
|
| 163 |
+
26.76119522028186
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1571.5602333452266,
|
| 175 |
+
81.68506796050853,
|
| 176 |
+
26.76119522028186
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1570.0602333452266,
|
| 188 |
+
84.28314417186185,
|
| 189 |
+
26.76119522028186
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1568.5602333452266,
|
| 201 |
+
86.88122038321517,
|
| 202 |
+
26.76119522028186
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1567.0602333452266,
|
| 214 |
+
89.47929659456848,
|
| 215 |
+
26.76119522028186
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1565.5602333452266,
|
| 227 |
+
92.0773728059218,
|
| 228 |
+
26.76119522028186
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1564.0602333452266,
|
| 240 |
+
94.67544901727511,
|
| 241 |
+
26.76119522028186
|
| 242 |
+
],
|
| 243 |
+
"type": "turn right",
|
| 244 |
+
"value": 30,
|
| 245 |
+
"yaw": 1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1564.0602333452266,
|
| 253 |
+
94.67544901727511,
|
| 254 |
+
26.76119522028186
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.523598775598299
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1561.4621571338732,
|
| 266 |
+
96.17544901727511,
|
| 267 |
+
26.76119522028186
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1558.8640809225199,
|
| 279 |
+
97.67544901727511,
|
| 280 |
+
26.76119522028186
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1556.2660047111665,
|
| 292 |
+
99.17544901727511,
|
| 293 |
+
26.76119522028186
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1553.6679284998131,
|
| 305 |
+
100.67544901727511,
|
| 306 |
+
26.76119522028186
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1551.0698522884597,
|
| 318 |
+
102.17544901727511,
|
| 319 |
+
26.76119522028186
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1548.4717760771064,
|
| 331 |
+
103.67544901727511,
|
| 332 |
+
26.76119522028186
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1545.873699865753,
|
| 344 |
+
105.17544901727511,
|
| 345 |
+
26.76119522028186
|
| 346 |
+
],
|
| 347 |
+
"type": "go down",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1545.873699865753,
|
| 357 |
+
105.17544901727511,
|
| 358 |
+
23.76119522028186
|
| 359 |
+
],
|
| 360 |
+
"type": "go down",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1545.873699865753,
|
| 370 |
+
105.17544901727511,
|
| 371 |
+
20.76119522028186
|
| 372 |
+
],
|
| 373 |
+
"type": "go down",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 0.5235987755982894
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1545.873699865753,
|
| 383 |
+
105.17544901727511,
|
| 384 |
+
17.76119522028186
|
| 385 |
+
],
|
| 386 |
+
"type": "stop",
|
| 387 |
+
"value": 0,
|
| 388 |
+
"yaw": 0.5235987755982894
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"aim_landmark": {
|
| 393 |
+
"color": "test",
|
| 394 |
+
"feature": "test",
|
| 395 |
+
"position": [
|
| 396 |
+
-1504.0,
|
| 397 |
+
156.0,
|
| 398 |
+
0.0
|
| 399 |
+
],
|
| 400 |
+
"shape": "test",
|
| 401 |
+
"dir": "center",
|
| 402 |
+
"size": "test",
|
| 403 |
+
"type": "building"
|
| 404 |
+
}
|
| 405 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-04-48_621999/pose.jsonl
ADDED
|
@@ -0,0 +1,483 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
209.10057052156233,
|
| 6 |
+
1646.8340598789807,
|
| 7 |
+
21.06683185354693
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
207.60057052156233,
|
| 19 |
+
1649.432136090334,
|
| 20 |
+
21.06683185354693
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
206.10057052156233,
|
| 32 |
+
1652.0302123016875,
|
| 33 |
+
21.06683185354693
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
204.60057052156233,
|
| 45 |
+
1654.6282885130408,
|
| 46 |
+
21.06683185354693
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
203.10057052156233,
|
| 58 |
+
1657.2263647243942,
|
| 59 |
+
21.06683185354693
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
201.60057052156233,
|
| 71 |
+
1659.8244409357476,
|
| 72 |
+
21.06683185354693
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
200.10057052156233,
|
| 84 |
+
1662.422517147101,
|
| 85 |
+
21.06683185354693
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
198.60057052156233,
|
| 97 |
+
1665.0205933584543,
|
| 98 |
+
21.06683185354693
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
197.10057052156233,
|
| 110 |
+
1667.6186695698077,
|
| 111 |
+
21.06683185354693
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
195.60057052156233,
|
| 123 |
+
1670.216745781161,
|
| 124 |
+
21.06683185354693
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
194.10057052156233,
|
| 136 |
+
1672.8148219925145,
|
| 137 |
+
21.06683185354693
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
192.60057052156233,
|
| 149 |
+
1675.4128982038678,
|
| 150 |
+
21.06683185354693
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
191.10057052156233,
|
| 162 |
+
1678.0109744152212,
|
| 163 |
+
21.06683185354693
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
189.60057052156233,
|
| 175 |
+
1680.6090506265746,
|
| 176 |
+
21.06683185354693
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
188.10057052156233,
|
| 188 |
+
1683.207126837928,
|
| 189 |
+
21.06683185354693
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
186.60057052156233,
|
| 201 |
+
1685.8052030492813,
|
| 202 |
+
21.06683185354693
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
185.10057052156233,
|
| 214 |
+
1688.4032792606347,
|
| 215 |
+
21.06683185354693
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
183.60057052156233,
|
| 227 |
+
1691.001355471988,
|
| 228 |
+
21.06683185354693
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
182.10057052156233,
|
| 240 |
+
1693.5994316833414,
|
| 241 |
+
21.06683185354693
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
180.60057052156233,
|
| 253 |
+
1696.1975078946948,
|
| 254 |
+
21.06683185354693
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
179.10057052156233,
|
| 266 |
+
1698.7955841060482,
|
| 267 |
+
21.06683185354693
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
177.60057052156233,
|
| 279 |
+
1701.3936603174016,
|
| 280 |
+
21.06683185354693
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
176.10057052156233,
|
| 292 |
+
1703.991736528755,
|
| 293 |
+
21.06683185354693
|
| 294 |
+
],
|
| 295 |
+
"type": "go up",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
176.10057052156233,
|
| 305 |
+
1703.991736528755,
|
| 306 |
+
24.06683185354693
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
174.60057052156233,
|
| 318 |
+
1706.5898127401083,
|
| 319 |
+
24.06683185354693
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 2.094395102393186
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
173.10057052156233,
|
| 331 |
+
1709.1878889514617,
|
| 332 |
+
24.06683185354693
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 2.094395102393186
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
171.60057052156233,
|
| 344 |
+
1711.785965162815,
|
| 345 |
+
24.06683185354693
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 2.094395102393186
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
170.10057052156233,
|
| 357 |
+
1714.3840413741684,
|
| 358 |
+
24.06683185354693
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 2.094395102393186
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
168.60057052156233,
|
| 370 |
+
1716.9821175855218,
|
| 371 |
+
24.06683185354693
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 2.094395102393186
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
167.10057052156233,
|
| 383 |
+
1719.5801937968752,
|
| 384 |
+
24.06683185354693
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 2.094395102393186
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
165.60057052156233,
|
| 396 |
+
1722.1782700082285,
|
| 397 |
+
24.06683185354693
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 2.094395102393186
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
164.10057052156233,
|
| 409 |
+
1724.776346219582,
|
| 410 |
+
24.06683185354693
|
| 411 |
+
],
|
| 412 |
+
"type": "turn left",
|
| 413 |
+
"value": 30,
|
| 414 |
+
"yaw": 2.094395102393186
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
164.10057052156233,
|
| 422 |
+
1724.776346219582,
|
| 423 |
+
24.06683185354693
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 2.6179938779914846
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
161.50249431020902,
|
| 435 |
+
1726.276346219582,
|
| 436 |
+
24.06683185354693
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 2.6179938779914944
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
158.9044180988557,
|
| 448 |
+
1727.776346219582,
|
| 449 |
+
24.06683185354693
|
| 450 |
+
],
|
| 451 |
+
"type": "go down",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 2.6179938779914944
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
158.9044180988557,
|
| 461 |
+
1727.776346219582,
|
| 462 |
+
21.06683185354693
|
| 463 |
+
],
|
| 464 |
+
"type": "stop",
|
| 465 |
+
"value": 0,
|
| 466 |
+
"yaw": 2.6179938779914944
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"aim_landmark": {
|
| 471 |
+
"color": "test",
|
| 472 |
+
"feature": "test",
|
| 473 |
+
"position": [
|
| 474 |
+
140.0,
|
| 475 |
+
1756.0,
|
| 476 |
+
0.0
|
| 477 |
+
],
|
| 478 |
+
"shape": "test",
|
| 479 |
+
"dir": "center",
|
| 480 |
+
"size": "test",
|
| 481 |
+
"type": "building"
|
| 482 |
+
}
|
| 483 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-12-27_819614/pose.jsonl
ADDED
|
@@ -0,0 +1,561 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1478.016435596414,
|
| 6 |
+
385.3809940363884,
|
| 7 |
+
32.01907926549801
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1475.016435596414,
|
| 19 |
+
385.3809940363884,
|
| 20 |
+
32.01907926549801
|
| 21 |
+
],
|
| 22 |
+
"type": "turn right",
|
| 23 |
+
"value": 30,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1475.016435596414,
|
| 32 |
+
385.3809940363884,
|
| 33 |
+
32.01907926549801
|
| 34 |
+
],
|
| 35 |
+
"type": "turn right",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": -0.5235987755982988
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1475.016435596414,
|
| 45 |
+
385.3809940363884,
|
| 46 |
+
32.01907926549801
|
| 47 |
+
],
|
| 48 |
+
"type": "turn right",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": -1.0471975511965976
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1475.016435596414,
|
| 58 |
+
385.3809940363884,
|
| 59 |
+
32.01907926549801
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1475.016435596414,
|
| 71 |
+
382.3809940363884,
|
| 72 |
+
32.01907926549801
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1475.016435596414,
|
| 84 |
+
379.3809940363884,
|
| 85 |
+
32.01907926549801
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1475.016435596414,
|
| 97 |
+
376.3809940363884,
|
| 98 |
+
32.01907926549801
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1475.016435596414,
|
| 110 |
+
373.3809940363884,
|
| 111 |
+
32.01907926549801
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1475.016435596414,
|
| 123 |
+
370.3809940363884,
|
| 124 |
+
32.01907926549801
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1475.016435596414,
|
| 136 |
+
367.3809940363884,
|
| 137 |
+
32.01907926549801
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1475.016435596414,
|
| 149 |
+
364.3809940363884,
|
| 150 |
+
32.01907926549801
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1475.016435596414,
|
| 162 |
+
361.3809940363884,
|
| 163 |
+
32.01907926549801
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1475.016435596414,
|
| 175 |
+
358.3809940363884,
|
| 176 |
+
32.01907926549801
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.5707963267948966
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1475.016435596414,
|
| 188 |
+
355.3809940363884,
|
| 189 |
+
32.01907926549801
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.5707963267948966
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1475.016435596414,
|
| 201 |
+
352.3809940363884,
|
| 202 |
+
32.01907926549801
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": -1.5707963267948966
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1475.016435596414,
|
| 214 |
+
352.3809940363884,
|
| 215 |
+
32.01907926549801
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": -2.0943951023931953
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1475.016435596414,
|
| 227 |
+
352.3809940363884,
|
| 228 |
+
32.01907926549801
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.617993877991494
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1477.6145118077675,
|
| 240 |
+
350.8809940363884,
|
| 241 |
+
32.01907926549801
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1480.2125880191209,
|
| 253 |
+
349.3809940363884,
|
| 254 |
+
32.01907926549801
|
| 255 |
+
],
|
| 256 |
+
"type": "go up",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1480.2125880191209,
|
| 266 |
+
349.3809940363884,
|
| 267 |
+
35.01907926549801
|
| 268 |
+
],
|
| 269 |
+
"type": "go up",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1480.2125880191209,
|
| 279 |
+
349.3809940363884,
|
| 280 |
+
38.01907926549801
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1482.8106642304742,
|
| 292 |
+
347.8809940363884,
|
| 293 |
+
38.01907926549801
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1485.4087404418276,
|
| 305 |
+
346.3809940363884,
|
| 306 |
+
38.01907926549801
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1488.006816653181,
|
| 318 |
+
344.8809940363884,
|
| 319 |
+
38.01907926549801
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1490.6048928645343,
|
| 331 |
+
343.3809940363884,
|
| 332 |
+
38.01907926549801
|
| 333 |
+
],
|
| 334 |
+
"type": "turn right",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": -2.6179938779915037
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1490.6048928645343,
|
| 344 |
+
343.3809940363884,
|
| 345 |
+
38.01907926549801
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -3.1415926535898024
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1493.6048928645343,
|
| 357 |
+
343.3809940363884,
|
| 358 |
+
38.01907926549801
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 3.141592653589793
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1496.6048928645343,
|
| 370 |
+
343.3809940363884,
|
| 371 |
+
38.01907926549801
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 3.141592653589793
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1499.6048928645343,
|
| 383 |
+
343.3809940363884,
|
| 384 |
+
38.01907926549801
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 3.141592653589793
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1502.6048928645343,
|
| 396 |
+
343.3809940363884,
|
| 397 |
+
38.01907926549801
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 3.141592653589793
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1505.6048928645343,
|
| 409 |
+
343.3809940363884,
|
| 410 |
+
38.01907926549801
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 3.141592653589793
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1508.6048928645343,
|
| 422 |
+
343.3809940363884,
|
| 423 |
+
38.01907926549801
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 3.141592653589793
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-1511.6048928645343,
|
| 435 |
+
343.3809940363884,
|
| 436 |
+
38.01907926549801
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 3.141592653589793
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-1514.6048928645343,
|
| 448 |
+
343.3809940363884,
|
| 449 |
+
38.01907926549801
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 3.141592653589793
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-1517.6048928645343,
|
| 461 |
+
343.3809940363884,
|
| 462 |
+
38.01907926549801
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 3.141592653589793
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-1520.6048928645343,
|
| 474 |
+
343.3809940363884,
|
| 475 |
+
38.01907926549801
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": 3.141592653589793
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-1523.6048928645343,
|
| 487 |
+
343.3809940363884,
|
| 488 |
+
38.01907926549801
|
| 489 |
+
],
|
| 490 |
+
"type": "go down",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": 3.141592653589793
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-1523.6048928645343,
|
| 500 |
+
343.3809940363884,
|
| 501 |
+
35.01907926549801
|
| 502 |
+
],
|
| 503 |
+
"type": "go down",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": 3.141592653589793
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
-1523.6048928645343,
|
| 513 |
+
343.3809940363884,
|
| 514 |
+
32.01907926549801
|
| 515 |
+
],
|
| 516 |
+
"type": "turn left",
|
| 517 |
+
"value": 30,
|
| 518 |
+
"yaw": 3.141592653589793
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"action": {
|
| 523 |
+
"imageid": 40,
|
| 524 |
+
"pos": [
|
| 525 |
+
-1523.6048928645343,
|
| 526 |
+
343.3809940363884,
|
| 527 |
+
32.01907926549801
|
| 528 |
+
],
|
| 529 |
+
"type": "go straight",
|
| 530 |
+
"value": 3,
|
| 531 |
+
"yaw": 3.665191429188092
|
| 532 |
+
}
|
| 533 |
+
}
|
| 534 |
+
{
|
| 535 |
+
"action": {
|
| 536 |
+
"imageid": 41,
|
| 537 |
+
"pos": [
|
| 538 |
+
-1526.2029690758877,
|
| 539 |
+
341.8809940363884,
|
| 540 |
+
32.01907926549801
|
| 541 |
+
],
|
| 542 |
+
"type": "stop",
|
| 543 |
+
"value": 0,
|
| 544 |
+
"yaw": 3.665191429188092
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
{
|
| 548 |
+
"aim_landmark": {
|
| 549 |
+
"color": "test",
|
| 550 |
+
"feature": "test",
|
| 551 |
+
"position": [
|
| 552 |
+
-1556.0,
|
| 553 |
+
316.0,
|
| 554 |
+
0.0
|
| 555 |
+
],
|
| 556 |
+
"shape": "test",
|
| 557 |
+
"dir": "center",
|
| 558 |
+
"size": "test",
|
| 559 |
+
"type": "building"
|
| 560 |
+
}
|
| 561 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-22-19_260538/pose.jsonl
ADDED
|
@@ -0,0 +1,535 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1643.5682180282477,
|
| 6 |
+
961.8533046400294,
|
| 7 |
+
36.10376945300825
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1646.166294239601,
|
| 19 |
+
960.3533046400294,
|
| 20 |
+
36.10376945300825
|
| 21 |
+
],
|
| 22 |
+
"type": "go up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1646.166294239601,
|
| 32 |
+
960.3533046400294,
|
| 33 |
+
39.10376945300825
|
| 34 |
+
],
|
| 35 |
+
"type": "go up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1646.166294239601,
|
| 45 |
+
960.3533046400294,
|
| 46 |
+
42.10376945300825
|
| 47 |
+
],
|
| 48 |
+
"type": "go up",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1646.166294239601,
|
| 58 |
+
960.3533046400294,
|
| 59 |
+
45.10376945300825
|
| 60 |
+
],
|
| 61 |
+
"type": "go up",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1646.166294239601,
|
| 71 |
+
960.3533046400294,
|
| 72 |
+
48.10376945300825
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1648.7643704509544,
|
| 84 |
+
958.8533046400294,
|
| 85 |
+
48.10376945300825
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1651.3624466623078,
|
| 97 |
+
957.3533046400294,
|
| 98 |
+
48.10376945300825
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1653.9605228736611,
|
| 110 |
+
955.8533046400294,
|
| 111 |
+
48.10376945300825
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1656.5585990850145,
|
| 123 |
+
954.3533046400294,
|
| 124 |
+
48.10376945300825
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1659.156675296368,
|
| 136 |
+
952.8533046400294,
|
| 137 |
+
48.10376945300825
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1661.7547515077213,
|
| 149 |
+
951.3533046400294,
|
| 150 |
+
48.10376945300825
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1664.3528277190746,
|
| 162 |
+
949.8533046400294,
|
| 163 |
+
48.10376945300825
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1666.950903930428,
|
| 175 |
+
948.3533046400294,
|
| 176 |
+
48.10376945300825
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1669.5489801417814,
|
| 188 |
+
946.8533046400294,
|
| 189 |
+
48.10376945300825
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1672.1470563531348,
|
| 201 |
+
945.3533046400294,
|
| 202 |
+
48.10376945300825
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1674.7451325644881,
|
| 214 |
+
943.8533046400294,
|
| 215 |
+
48.10376945300825
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1677.3432087758415,
|
| 227 |
+
942.3533046400294,
|
| 228 |
+
48.10376945300825
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1679.9412849871949,
|
| 240 |
+
940.8533046400294,
|
| 241 |
+
48.10376945300825
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1682.5393611985482,
|
| 253 |
+
939.3533046400294,
|
| 254 |
+
48.10376945300825
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1685.1374374099016,
|
| 266 |
+
937.8533046400294,
|
| 267 |
+
48.10376945300825
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1687.735513621255,
|
| 279 |
+
936.3533046400294,
|
| 280 |
+
48.10376945300825
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1690.3335898326084,
|
| 292 |
+
934.8533046400294,
|
| 293 |
+
48.10376945300825
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1692.9316660439617,
|
| 305 |
+
933.3533046400294,
|
| 306 |
+
48.10376945300825
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1695.529742255315,
|
| 318 |
+
931.8533046400294,
|
| 319 |
+
48.10376945300825
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1698.1278184666685,
|
| 331 |
+
930.3533046400294,
|
| 332 |
+
48.10376945300825
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.6179938779915037
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1700.7258946780219,
|
| 344 |
+
928.8533046400294,
|
| 345 |
+
48.10376945300825
|
| 346 |
+
],
|
| 347 |
+
"type": "turn left",
|
| 348 |
+
"value": 30,
|
| 349 |
+
"yaw": -2.6179938779915037
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1700.7258946780219,
|
| 357 |
+
928.8533046400294,
|
| 358 |
+
48.10376945300825
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.094395102393205
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1702.2258946780219,
|
| 370 |
+
926.255228428676,
|
| 371 |
+
48.10376945300825
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -2.094395102393186
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1703.7258946780219,
|
| 383 |
+
923.6571522173226,
|
| 384 |
+
48.10376945300825
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -2.094395102393186
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1705.2258946780219,
|
| 396 |
+
921.0590760059692,
|
| 397 |
+
48.10376945300825
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.094395102393186
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1706.7258946780219,
|
| 409 |
+
918.4609997946159,
|
| 410 |
+
48.10376945300825
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -2.094395102393186
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1708.2258946780219,
|
| 422 |
+
915.8629235832625,
|
| 423 |
+
48.10376945300825
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -2.094395102393186
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-1709.7258946780219,
|
| 435 |
+
913.2648473719091,
|
| 436 |
+
48.10376945300825
|
| 437 |
+
],
|
| 438 |
+
"type": "go down",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -2.094395102393186
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-1709.7258946780219,
|
| 448 |
+
913.2648473719091,
|
| 449 |
+
45.10376945300825
|
| 450 |
+
],
|
| 451 |
+
"type": "go down",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": -2.094395102393186
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-1709.7258946780219,
|
| 461 |
+
913.2648473719091,
|
| 462 |
+
42.10376945300825
|
| 463 |
+
],
|
| 464 |
+
"type": "go down",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": -2.094395102393186
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-1709.7258946780219,
|
| 474 |
+
913.2648473719091,
|
| 475 |
+
39.10376945300825
|
| 476 |
+
],
|
| 477 |
+
"type": "go down",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": -2.094395102393186
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-1709.7258946780219,
|
| 487 |
+
913.2648473719091,
|
| 488 |
+
36.10376945300825
|
| 489 |
+
],
|
| 490 |
+
"type": "turn right",
|
| 491 |
+
"value": 30,
|
| 492 |
+
"yaw": -2.094395102393186
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-1709.7258946780219,
|
| 500 |
+
913.2648473719091,
|
| 501 |
+
36.10376945300825
|
| 502 |
+
],
|
| 503 |
+
"type": "go straight",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": -2.6179938779914846
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
-1712.3239708893752,
|
| 513 |
+
911.7648473719091,
|
| 514 |
+
36.10376945300825
|
| 515 |
+
],
|
| 516 |
+
"type": "stop",
|
| 517 |
+
"value": 0,
|
| 518 |
+
"yaw": -2.6179938779914846
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"aim_landmark": {
|
| 523 |
+
"color": "test",
|
| 524 |
+
"feature": "test",
|
| 525 |
+
"position": [
|
| 526 |
+
-1728.0,
|
| 527 |
+
900.0,
|
| 528 |
+
0.0
|
| 529 |
+
],
|
| 530 |
+
"shape": "test",
|
| 531 |
+
"dir": "center",
|
| 532 |
+
"size": "test",
|
| 533 |
+
"type": "building"
|
| 534 |
+
}
|
| 535 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-19_00-37-14_342805/pose.jsonl
ADDED
|
@@ -0,0 +1,639 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-65.6417812651887,
|
| 6 |
+
1647.234396093667,
|
| 7 |
+
21.795777126389787
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.5235987755982988
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-63.04370505383538,
|
| 19 |
+
1648.734396093667,
|
| 20 |
+
21.795777126389787
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.5235987755982988
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-60.445628842482066,
|
| 32 |
+
1650.234396093667,
|
| 33 |
+
21.795777126389787
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.5235987755982988
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-57.84755263112875,
|
| 45 |
+
1651.734396093667,
|
| 46 |
+
21.795777126389787
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.5235987755982988
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-55.249476419775434,
|
| 58 |
+
1653.234396093667,
|
| 59 |
+
21.795777126389787
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 0.5235987755982988
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-52.65140020842212,
|
| 71 |
+
1654.734396093667,
|
| 72 |
+
21.795777126389787
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-50.0533239970688,
|
| 84 |
+
1656.234396093667,
|
| 85 |
+
21.795777126389787
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982988
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-47.455247785715486,
|
| 97 |
+
1657.734396093667,
|
| 98 |
+
21.795777126389787
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982988
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-44.85717157436217,
|
| 110 |
+
1659.234396093667,
|
| 111 |
+
21.795777126389787
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982988
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-42.25909536300885,
|
| 123 |
+
1660.734396093667,
|
| 124 |
+
21.795777126389787
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982988
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-39.66101915165554,
|
| 136 |
+
1662.234396093667,
|
| 137 |
+
21.795777126389787
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982988
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-37.06294294030222,
|
| 149 |
+
1663.734396093667,
|
| 150 |
+
21.795777126389787
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 0.5235987755982988
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-34.464866728948905,
|
| 162 |
+
1665.234396093667,
|
| 163 |
+
21.795777126389787
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 0.5235987755982988
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-31.86679051759559,
|
| 175 |
+
1666.734396093667,
|
| 176 |
+
21.795777126389787
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.5235987755982988
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-29.268714306242273,
|
| 188 |
+
1668.234396093667,
|
| 189 |
+
21.795777126389787
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.5235987755982988
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-26.670638094888957,
|
| 201 |
+
1669.734396093667,
|
| 202 |
+
21.795777126389787
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982988
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-24.07256188353564,
|
| 214 |
+
1671.234396093667,
|
| 215 |
+
21.795777126389787
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-21.474485672182325,
|
| 227 |
+
1672.734396093667,
|
| 228 |
+
21.795777126389787
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982988
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-18.87640946082901,
|
| 240 |
+
1674.234396093667,
|
| 241 |
+
21.795777126389787
|
| 242 |
+
],
|
| 243 |
+
"type": "go up",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982988
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-18.87640946082901,
|
| 253 |
+
1674.234396093667,
|
| 254 |
+
24.795777126389787
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 0.5235987755982988
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-18.87640946082901,
|
| 266 |
+
1674.234396093667,
|
| 267 |
+
24.795777126389787
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.0471975511965976
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-17.37640946082901,
|
| 279 |
+
1676.8324723050205,
|
| 280 |
+
24.795777126389787
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.0471975511966072
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-15.87640946082901,
|
| 292 |
+
1679.4305485163738,
|
| 293 |
+
24.795777126389787
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-14.37640946082901,
|
| 305 |
+
1682.0286247277272,
|
| 306 |
+
24.795777126389787
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-12.87640946082901,
|
| 318 |
+
1684.6267009390806,
|
| 319 |
+
24.795777126389787
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.0471975511966072
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-11.37640946082901,
|
| 331 |
+
1687.224777150434,
|
| 332 |
+
24.795777126389787
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 1.0471975511966072
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-9.87640946082901,
|
| 344 |
+
1689.8228533617873,
|
| 345 |
+
24.795777126389787
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 1.0471975511966072
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-8.37640946082901,
|
| 357 |
+
1692.4209295731407,
|
| 358 |
+
24.795777126389787
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 1.0471975511966072
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-6.876409460829009,
|
| 370 |
+
1695.019005784494,
|
| 371 |
+
24.795777126389787
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 1.0471975511966072
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-5.376409460829009,
|
| 383 |
+
1697.6170819958475,
|
| 384 |
+
24.795777126389787
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 1.0471975511966072
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-3.876409460829009,
|
| 396 |
+
1700.2151582072008,
|
| 397 |
+
24.795777126389787
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 1.0471975511966072
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-2.3764094608290085,
|
| 409 |
+
1702.8132344185542,
|
| 410 |
+
24.795777126389787
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 1.0471975511966072
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-0.8764094608290081,
|
| 422 |
+
1705.4113106299076,
|
| 423 |
+
24.795777126389787
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 1.0471975511966072
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
0.6235905391709924,
|
| 435 |
+
1708.009386841261,
|
| 436 |
+
24.795777126389787
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 1.0471975511966072
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
2.123590539170993,
|
| 448 |
+
1710.6074630526143,
|
| 449 |
+
24.795777126389787
|
| 450 |
+
],
|
| 451 |
+
"type": "turn right",
|
| 452 |
+
"value": 30,
|
| 453 |
+
"yaw": 1.0471975511966072
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
2.123590539170993,
|
| 461 |
+
1710.6074630526143,
|
| 462 |
+
24.795777126389787
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 0.5235987755983084
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
4.721666750524308,
|
| 474 |
+
1712.1074630526143,
|
| 475 |
+
24.795777126389787
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": 0.5235987755982989
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
7.319742961877624,
|
| 487 |
+
1713.6074630526143,
|
| 488 |
+
24.795777126389787
|
| 489 |
+
],
|
| 490 |
+
"type": "go straight",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": 0.5235987755982988
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
9.91781917323094,
|
| 500 |
+
1715.1074630526143,
|
| 501 |
+
24.795777126389787
|
| 502 |
+
],
|
| 503 |
+
"type": "turn left",
|
| 504 |
+
"value": 30,
|
| 505 |
+
"yaw": 0.5235987755982988
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
9.91781917323094,
|
| 513 |
+
1715.1074630526143,
|
| 514 |
+
24.795777126389787
|
| 515 |
+
],
|
| 516 |
+
"type": "go straight",
|
| 517 |
+
"value": 3,
|
| 518 |
+
"yaw": 1.0471975511965976
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"action": {
|
| 523 |
+
"imageid": 40,
|
| 524 |
+
"pos": [
|
| 525 |
+
11.41781917323094,
|
| 526 |
+
1717.7055392639677,
|
| 527 |
+
24.795777126389787
|
| 528 |
+
],
|
| 529 |
+
"type": "go straight",
|
| 530 |
+
"value": 3,
|
| 531 |
+
"yaw": 1.0471975511966072
|
| 532 |
+
}
|
| 533 |
+
}
|
| 534 |
+
{
|
| 535 |
+
"action": {
|
| 536 |
+
"imageid": 41,
|
| 537 |
+
"pos": [
|
| 538 |
+
12.91781917323094,
|
| 539 |
+
1720.303615475321,
|
| 540 |
+
24.795777126389787
|
| 541 |
+
],
|
| 542 |
+
"type": "go straight",
|
| 543 |
+
"value": 3,
|
| 544 |
+
"yaw": 1.0471975511966072
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
{
|
| 548 |
+
"action": {
|
| 549 |
+
"imageid": 42,
|
| 550 |
+
"pos": [
|
| 551 |
+
14.41781917323094,
|
| 552 |
+
1722.9016916866744,
|
| 553 |
+
24.795777126389787
|
| 554 |
+
],
|
| 555 |
+
"type": "go straight",
|
| 556 |
+
"value": 3,
|
| 557 |
+
"yaw": 1.0471975511966072
|
| 558 |
+
}
|
| 559 |
+
}
|
| 560 |
+
{
|
| 561 |
+
"action": {
|
| 562 |
+
"imageid": 43,
|
| 563 |
+
"pos": [
|
| 564 |
+
15.91781917323094,
|
| 565 |
+
1725.4997678980278,
|
| 566 |
+
24.795777126389787
|
| 567 |
+
],
|
| 568 |
+
"type": "turn left",
|
| 569 |
+
"value": 30,
|
| 570 |
+
"yaw": 1.0471975511966072
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
{
|
| 574 |
+
"action": {
|
| 575 |
+
"imageid": 44,
|
| 576 |
+
"pos": [
|
| 577 |
+
15.91781917323094,
|
| 578 |
+
1725.4997678980278,
|
| 579 |
+
24.795777126389787
|
| 580 |
+
],
|
| 581 |
+
"type": "go straight",
|
| 582 |
+
"value": 3,
|
| 583 |
+
"yaw": 1.5707963267949059
|
| 584 |
+
}
|
| 585 |
+
}
|
| 586 |
+
{
|
| 587 |
+
"action": {
|
| 588 |
+
"imageid": 45,
|
| 589 |
+
"pos": [
|
| 590 |
+
15.91781917323094,
|
| 591 |
+
1728.4997678980278,
|
| 592 |
+
24.795777126389787
|
| 593 |
+
],
|
| 594 |
+
"type": "go straight",
|
| 595 |
+
"value": 3,
|
| 596 |
+
"yaw": 1.5707963267948966
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
{
|
| 600 |
+
"action": {
|
| 601 |
+
"imageid": 46,
|
| 602 |
+
"pos": [
|
| 603 |
+
15.91781917323094,
|
| 604 |
+
1731.4997678980278,
|
| 605 |
+
24.795777126389787
|
| 606 |
+
],
|
| 607 |
+
"type": "go down",
|
| 608 |
+
"value": 3,
|
| 609 |
+
"yaw": 1.5707963267948966
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
{
|
| 613 |
+
"action": {
|
| 614 |
+
"imageid": 47,
|
| 615 |
+
"pos": [
|
| 616 |
+
15.91781917323094,
|
| 617 |
+
1731.4997678980278,
|
| 618 |
+
21.795777126389787
|
| 619 |
+
],
|
| 620 |
+
"type": "stop",
|
| 621 |
+
"value": 0,
|
| 622 |
+
"yaw": 1.5707963267948966
|
| 623 |
+
}
|
| 624 |
+
}
|
| 625 |
+
{
|
| 626 |
+
"aim_landmark": {
|
| 627 |
+
"color": "test",
|
| 628 |
+
"feature": "test",
|
| 629 |
+
"position": [
|
| 630 |
+
36.0,
|
| 631 |
+
1756.0,
|
| 632 |
+
0.0
|
| 633 |
+
],
|
| 634 |
+
"shape": "test",
|
| 635 |
+
"dir": "right",
|
| 636 |
+
"size": "test",
|
| 637 |
+
"type": "building"
|
| 638 |
+
}
|
| 639 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-01-19_01-14-55_198806/pose.jsonl
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1275.2680334319407,
|
| 6 |
+
87.37035022776435,
|
| 7 |
+
26.879657744595058
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.0471975511965979
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1276.7680334319407,
|
| 19 |
+
89.96842643911766,
|
| 20 |
+
26.879657744595058
|
| 21 |
+
],
|
| 22 |
+
"type": "go up",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.0471975511965979
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1276.7680334319407,
|
| 32 |
+
89.96842643911766,
|
| 33 |
+
29.879657744595058
|
| 34 |
+
],
|
| 35 |
+
"type": "go up",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.0471975511965979
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1276.7680334319407,
|
| 45 |
+
89.96842643911766,
|
| 46 |
+
32.87965774459506
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.0471975511965979
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1278.2680334319407,
|
| 58 |
+
92.56650265047098,
|
| 59 |
+
32.87965774459506
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965979
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1279.7680334319407,
|
| 71 |
+
95.1645788618243,
|
| 72 |
+
32.87965774459506
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1281.2680334319407,
|
| 84 |
+
97.76265507317761,
|
| 85 |
+
32.87965774459506
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1282.7680334319407,
|
| 97 |
+
100.36073128453093,
|
| 98 |
+
32.87965774459506
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1284.2680334319407,
|
| 110 |
+
102.95880749588424,
|
| 111 |
+
32.87965774459506
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1285.7680334319407,
|
| 123 |
+
105.55688370723756,
|
| 124 |
+
32.87965774459506
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1287.2680334319407,
|
| 136 |
+
108.15495991859088,
|
| 137 |
+
32.87965774459506
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1288.7680334319407,
|
| 149 |
+
110.75303612994419,
|
| 150 |
+
32.87965774459506
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1290.2680334319407,
|
| 162 |
+
113.35111234129751,
|
| 163 |
+
32.87965774459506
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1291.7680334319407,
|
| 175 |
+
115.94918855265082,
|
| 176 |
+
32.87965774459506
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1293.2680334319407,
|
| 188 |
+
118.54726476400414,
|
| 189 |
+
32.87965774459506
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1294.7680334319407,
|
| 201 |
+
121.14534097535746,
|
| 202 |
+
32.87965774459506
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1296.2680334319407,
|
| 214 |
+
123.74341718671077,
|
| 215 |
+
32.87965774459506
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1297.7680334319407,
|
| 227 |
+
126.34149339806409,
|
| 228 |
+
32.87965774459506
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1299.2680334319407,
|
| 240 |
+
128.9395696094174,
|
| 241 |
+
32.87965774459506
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.0471975511965954
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1300.7680334319407,
|
| 253 |
+
131.5376458207707,
|
| 254 |
+
32.87965774459506
|
| 255 |
+
],
|
| 256 |
+
"type": "turn left",
|
| 257 |
+
"value": 30,
|
| 258 |
+
"yaw": 1.0471975511965979
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1300.7680334319407,
|
| 266 |
+
131.5376458207707,
|
| 267 |
+
32.87965774459506
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1300.7680334319407,
|
| 279 |
+
134.5376458207707,
|
| 280 |
+
32.87965774459506
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1300.7680334319407,
|
| 292 |
+
137.5376458207707,
|
| 293 |
+
32.87965774459506
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 1.5707963267948966
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1300.7680334319407,
|
| 305 |
+
140.5376458207707,
|
| 306 |
+
32.87965774459506
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 1.5707963267948966
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1300.7680334319407,
|
| 318 |
+
143.5376458207707,
|
| 319 |
+
32.87965774459506
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 1.5707963267948966
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1300.7680334319407,
|
| 331 |
+
146.5376458207707,
|
| 332 |
+
32.87965774459506
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 1.5707963267948966
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1300.7680334319407,
|
| 344 |
+
149.5376458207707,
|
| 345 |
+
32.87965774459506
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 1.5707963267948966
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
1300.7680334319407,
|
| 357 |
+
152.5376458207707,
|
| 358 |
+
32.87965774459506
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 1.5707963267948966
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
1300.7680334319407,
|
| 370 |
+
155.5376458207707,
|
| 371 |
+
32.87965774459506
|
| 372 |
+
],
|
| 373 |
+
"type": "go down",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 1.5707963267948966
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
1300.7680334319407,
|
| 383 |
+
155.5376458207707,
|
| 384 |
+
29.879657744595058
|
| 385 |
+
],
|
| 386 |
+
"type": "go down",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 1.5707963267948966
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
1300.7680334319407,
|
| 396 |
+
155.5376458207707,
|
| 397 |
+
26.879657744595058
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 1.5707963267948966
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
1300.7680334319407,
|
| 409 |
+
158.5376458207707,
|
| 410 |
+
26.879657744595058
|
| 411 |
+
],
|
| 412 |
+
"type": "stop",
|
| 413 |
+
"value": 0,
|
| 414 |
+
"yaw": 1.5707963267948966
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"aim_landmark": {
|
| 419 |
+
"color": "test",
|
| 420 |
+
"feature": "test",
|
| 421 |
+
"position": [
|
| 422 |
+
1308.0,
|
| 423 |
+
184.0,
|
| 424 |
+
0.0
|
| 425 |
+
],
|
| 426 |
+
"shape": "test",
|
| 427 |
+
"dir": "center",
|
| 428 |
+
"size": "test",
|
| 429 |
+
"type": "building"
|
| 430 |
+
}
|
| 431 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-51-57_1914544919/pose.jsonl
ADDED
|
@@ -0,0 +1,431 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
834.8157850885887,
|
| 6 |
+
-742.2377445908984,
|
| 7 |
+
39.739162805807986
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
837.8157850885887,
|
| 19 |
+
-742.2377445908984,
|
| 20 |
+
39.739162805807986
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
840.8157850885887,
|
| 32 |
+
-742.2377445908984,
|
| 33 |
+
39.739162805807986
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
843.8157850885887,
|
| 45 |
+
-742.2377445908984,
|
| 46 |
+
39.739162805807986
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
843.8157850885887,
|
| 58 |
+
-742.2377445908984,
|
| 59 |
+
39.739162805807986
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.5235987755982988
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
843.8157850885887,
|
| 71 |
+
-742.2377445908984,
|
| 72 |
+
39.739162805807986
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965976
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
845.3157850885887,
|
| 84 |
+
-739.6396683795451,
|
| 85 |
+
39.739162805807986
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965883
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
846.8157850885887,
|
| 97 |
+
-737.0415921681918,
|
| 98 |
+
39.739162805807986
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511966072
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
848.3157850885887,
|
| 110 |
+
-734.4435159568384,
|
| 111 |
+
39.739162805807986
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511966072
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
849.8157850885887,
|
| 123 |
+
-731.845439745485,
|
| 124 |
+
39.739162805807986
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511966072
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
851.3157850885887,
|
| 136 |
+
-729.2473635341316,
|
| 137 |
+
39.739162805807986
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511966072
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
852.8157850885887,
|
| 149 |
+
-726.6492873227783,
|
| 150 |
+
39.739162805807986
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511966072
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
854.3157850885887,
|
| 162 |
+
-724.0512111114249,
|
| 163 |
+
39.739162805807986
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511966072
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
855.8157850885887,
|
| 175 |
+
-721.4531349000715,
|
| 176 |
+
39.739162805807986
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 1.0471975511966072
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
857.3157850885887,
|
| 188 |
+
-718.8550586887181,
|
| 189 |
+
39.739162805807986
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 1.0471975511966072
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
858.8157850885887,
|
| 201 |
+
-716.2569824773648,
|
| 202 |
+
39.739162805807986
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.0471975511966072
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
860.3157850885887,
|
| 214 |
+
-713.6589062660114,
|
| 215 |
+
39.739162805807986
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": 1.0471975511966072
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
860.3157850885887,
|
| 227 |
+
-713.6589062660114,
|
| 228 |
+
39.739162805807986
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755983084
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
862.913861299942,
|
| 240 |
+
-712.1589062660114,
|
| 241 |
+
39.739162805807986
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
865.5119375112954,
|
| 253 |
+
-710.6589062660114,
|
| 254 |
+
39.739162805807986
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
868.1100137226488,
|
| 266 |
+
-709.1589062660114,
|
| 267 |
+
39.739162805807986
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
870.7080899340021,
|
| 279 |
+
-707.6589062660114,
|
| 280 |
+
39.739162805807986
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
873.3061661453555,
|
| 292 |
+
-706.1589062660114,
|
| 293 |
+
39.739162805807986
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
875.9042423567089,
|
| 305 |
+
-704.6589062660114,
|
| 306 |
+
39.739162805807986
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
878.5023185680623,
|
| 318 |
+
-703.1589062660114,
|
| 319 |
+
39.739162805807986
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
881.1003947794156,
|
| 331 |
+
-701.6589062660114,
|
| 332 |
+
39.739162805807986
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
883.698470990769,
|
| 344 |
+
-700.1589062660114,
|
| 345 |
+
39.739162805807986
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
886.2965472021224,
|
| 357 |
+
-698.6589062660114,
|
| 358 |
+
39.739162805807986
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
888.8946234134758,
|
| 370 |
+
-697.1589062660114,
|
| 371 |
+
39.739162805807986
|
| 372 |
+
],
|
| 373 |
+
"type": "turn left",
|
| 374 |
+
"value": 30,
|
| 375 |
+
"yaw": 0.5235987755982894
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
888.8946234134758,
|
| 383 |
+
-697.1589062660114,
|
| 384 |
+
39.739162805807986
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 1.047197551196588
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
890.3946234134758,
|
| 396 |
+
-694.560830054658,
|
| 397 |
+
39.739162805807986
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 1.0471975511966072
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
891.8946234134758,
|
| 409 |
+
-691.9627538433047,
|
| 410 |
+
39.739162805807986
|
| 411 |
+
],
|
| 412 |
+
"type": "stop",
|
| 413 |
+
"value": 0,
|
| 414 |
+
"yaw": 1.0471975511966072
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"aim_landmark": {
|
| 419 |
+
"color": "test",
|
| 420 |
+
"feature": "test",
|
| 421 |
+
"position": [
|
| 422 |
+
920.0,
|
| 423 |
+
-668.0,
|
| 424 |
+
0.0
|
| 425 |
+
],
|
| 426 |
+
"shape": "test",
|
| 427 |
+
"dir": "center",
|
| 428 |
+
"size": "test",
|
| 429 |
+
"type": "building"
|
| 430 |
+
}
|
| 431 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_19-53-7_1734575198/pose.jsonl
ADDED
|
@@ -0,0 +1,171 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1411.6309021938548,
|
| 6 |
+
-10.157348489834746,
|
| 7 |
+
38.84950077434314
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1411.6309021938548,
|
| 19 |
+
-7.157348489834746,
|
| 20 |
+
38.84950077434314
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1411.6309021938548,
|
| 32 |
+
-4.157348489834746,
|
| 33 |
+
38.84950077434314
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1411.6309021938548,
|
| 45 |
+
-1.157348489834746,
|
| 46 |
+
38.84950077434314
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1411.6309021938548,
|
| 58 |
+
1.842651510165254,
|
| 59 |
+
38.84950077434314
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1411.6309021938548,
|
| 71 |
+
4.842651510165254,
|
| 72 |
+
38.84950077434314
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1411.6309021938548,
|
| 84 |
+
7.842651510165254,
|
| 85 |
+
38.84950077434314
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1411.6309021938548,
|
| 97 |
+
10.842651510165254,
|
| 98 |
+
38.84950077434314
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1411.6309021938548,
|
| 110 |
+
13.842651510165254,
|
| 111 |
+
38.84950077434314
|
| 112 |
+
],
|
| 113 |
+
"type": "turn right",
|
| 114 |
+
"value": 30,
|
| 115 |
+
"yaw": 1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1411.6309021938548,
|
| 123 |
+
13.842651510165254,
|
| 124 |
+
38.84950077434314
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1410.1309021938548,
|
| 136 |
+
16.44072772151857,
|
| 137 |
+
38.84950077434314
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1408.6309021938548,
|
| 149 |
+
19.038803932871886,
|
| 150 |
+
38.84950077434314
|
| 151 |
+
],
|
| 152 |
+
"type": "stop",
|
| 153 |
+
"value": 0,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"aim_landmark": {
|
| 159 |
+
"color": "test",
|
| 160 |
+
"feature": "test",
|
| 161 |
+
"position": [
|
| 162 |
+
-1400.0,
|
| 163 |
+
100.0,
|
| 164 |
+
0.0
|
| 165 |
+
],
|
| 166 |
+
"shape": "test",
|
| 167 |
+
"dir": "center",
|
| 168 |
+
"size": "test",
|
| 169 |
+
"type": "building"
|
| 170 |
+
}
|
| 171 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_20-0-39_1159126505/pose.jsonl
ADDED
|
@@ -0,0 +1,379 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
844.0552079760058,
|
| 6 |
+
-1694.7727435810993,
|
| 7 |
+
34.04897899659732
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 3.141592653589793
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
841.0552079760058,
|
| 19 |
+
-1694.7727435810993,
|
| 20 |
+
34.04897899659732
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 3.141592653589793
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
838.0552079760058,
|
| 32 |
+
-1694.7727435810993,
|
| 33 |
+
34.04897899659732
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 3.141592653589793
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
835.0552079760058,
|
| 45 |
+
-1694.7727435810993,
|
| 46 |
+
34.04897899659732
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 3.141592653589793
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
832.0552079760058,
|
| 58 |
+
-1694.7727435810993,
|
| 59 |
+
34.04897899659732
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 3.141592653589793
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
829.0552079760058,
|
| 71 |
+
-1694.7727435810993,
|
| 72 |
+
34.04897899659732
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 3.141592653589793
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
826.0552079760058,
|
| 84 |
+
-1694.7727435810993,
|
| 85 |
+
34.04897899659732
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 3.141592653589793
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
823.0552079760058,
|
| 97 |
+
-1694.7727435810993,
|
| 98 |
+
34.04897899659732
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 3.141592653589793
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
820.0552079760058,
|
| 110 |
+
-1694.7727435810993,
|
| 111 |
+
34.04897899659732
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 3.141592653589793
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
817.0552079760058,
|
| 123 |
+
-1694.7727435810993,
|
| 124 |
+
34.04897899659732
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 3.141592653589793
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
814.0552079760058,
|
| 136 |
+
-1694.7727435810993,
|
| 137 |
+
34.04897899659732
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 3.141592653589793
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
811.0552079760058,
|
| 149 |
+
-1694.7727435810993,
|
| 150 |
+
34.04897899659732
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 3.141592653589793
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
808.0552079760058,
|
| 162 |
+
-1694.7727435810993,
|
| 163 |
+
34.04897899659732
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 3.141592653589793
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
805.0552079760058,
|
| 175 |
+
-1694.7727435810993,
|
| 176 |
+
34.04897899659732
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 3.141592653589793
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
802.0552079760058,
|
| 188 |
+
-1694.7727435810993,
|
| 189 |
+
34.04897899659732
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 3.141592653589793
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
799.0552079760058,
|
| 201 |
+
-1694.7727435810993,
|
| 202 |
+
34.04897899659732
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 3.141592653589793
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
796.0552079760058,
|
| 214 |
+
-1694.7727435810993,
|
| 215 |
+
34.04897899659732
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 3.141592653589793
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
793.0552079760058,
|
| 227 |
+
-1694.7727435810993,
|
| 228 |
+
34.04897899659732
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 3.141592653589793
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
790.0552079760058,
|
| 240 |
+
-1694.7727435810993,
|
| 241 |
+
34.04897899659732
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 3.141592653589793
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
787.0552079760058,
|
| 253 |
+
-1694.7727435810993,
|
| 254 |
+
34.04897899659732
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 3.141592653589793
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
784.0552079760058,
|
| 266 |
+
-1694.7727435810993,
|
| 267 |
+
34.04897899659732
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 3.141592653589793
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
781.0552079760058,
|
| 279 |
+
-1694.7727435810993,
|
| 280 |
+
34.04897899659732
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 3.141592653589793
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
778.0552079760058,
|
| 292 |
+
-1694.7727435810993,
|
| 293 |
+
34.04897899659732
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 3.141592653589793
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
775.0552079760058,
|
| 305 |
+
-1694.7727435810993,
|
| 306 |
+
34.04897899659732
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 3.141592653589793
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
772.0552079760058,
|
| 318 |
+
-1694.7727435810993,
|
| 319 |
+
34.04897899659732
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 3.141592653589793
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
769.0552079760058,
|
| 331 |
+
-1694.7727435810993,
|
| 332 |
+
34.04897899659732
|
| 333 |
+
],
|
| 334 |
+
"type": "turn left",
|
| 335 |
+
"value": 30,
|
| 336 |
+
"yaw": 3.141592653589793
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
769.0552079760058,
|
| 344 |
+
-1694.7727435810993,
|
| 345 |
+
34.04897899659732
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 3.665191429188092
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
766.4571317646526,
|
| 357 |
+
-1696.2727435810993,
|
| 358 |
+
34.04897899659732
|
| 359 |
+
],
|
| 360 |
+
"type": "stop",
|
| 361 |
+
"value": 0,
|
| 362 |
+
"yaw": 3.665191429188092
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"aim_landmark": {
|
| 367 |
+
"color": "test",
|
| 368 |
+
"feature": "test",
|
| 369 |
+
"position": [
|
| 370 |
+
724.0,
|
| 371 |
+
-1700.0,
|
| 372 |
+
0.0
|
| 373 |
+
],
|
| 374 |
+
"shape": "test",
|
| 375 |
+
"dir": "center",
|
| 376 |
+
"size": "test",
|
| 377 |
+
"type": "building"
|
| 378 |
+
}
|
| 379 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_20-6-45_1374344043/pose.jsonl
ADDED
|
@@ -0,0 +1,457 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1542.3245908867823,
|
| 6 |
+
-755.9282933811962,
|
| 7 |
+
33.17293615884758
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393186
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1543.8245908867823,
|
| 19 |
+
-753.3302171698429,
|
| 20 |
+
33.17293615884758
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393186
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1545.3245908867823,
|
| 32 |
+
-750.7321409584895,
|
| 33 |
+
33.17293615884758
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1546.8245908867823,
|
| 45 |
+
-748.1340647471361,
|
| 46 |
+
33.17293615884758
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1548.3245908867823,
|
| 58 |
+
-745.5359885357827,
|
| 59 |
+
33.17293615884758
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1549.8245908867823,
|
| 71 |
+
-742.9379123244294,
|
| 72 |
+
33.17293615884758
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1551.3245908867823,
|
| 84 |
+
-740.339836113076,
|
| 85 |
+
33.17293615884758
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1552.8245908867823,
|
| 97 |
+
-737.7417599017226,
|
| 98 |
+
33.17293615884758
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1554.3245908867823,
|
| 110 |
+
-735.1436836903692,
|
| 111 |
+
33.17293615884758
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1555.8245908867823,
|
| 123 |
+
-732.5456074790159,
|
| 124 |
+
33.17293615884758
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1557.3245908867823,
|
| 136 |
+
-729.9475312676625,
|
| 137 |
+
33.17293615884758
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1558.8245908867823,
|
| 149 |
+
-727.3494550563091,
|
| 150 |
+
33.17293615884758
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1560.3245908867823,
|
| 162 |
+
-724.7513788449558,
|
| 163 |
+
33.17293615884758
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1561.8245908867823,
|
| 175 |
+
-722.1533026336024,
|
| 176 |
+
33.17293615884758
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1563.3245908867823,
|
| 188 |
+
-719.555226422249,
|
| 189 |
+
33.17293615884758
|
| 190 |
+
],
|
| 191 |
+
"type": "turn right",
|
| 192 |
+
"value": 30,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1563.3245908867823,
|
| 201 |
+
-719.555226422249,
|
| 202 |
+
33.17293615884758
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 1.5707963267948872
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1563.3245908867823,
|
| 214 |
+
-716.555226422249,
|
| 215 |
+
33.17293615884758
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 1.5707963267948966
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1563.3245908867823,
|
| 227 |
+
-713.555226422249,
|
| 228 |
+
33.17293615884758
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 1.5707963267948966
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1563.3245908867823,
|
| 240 |
+
-710.555226422249,
|
| 241 |
+
33.17293615884758
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 1.5707963267948966
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1563.3245908867823,
|
| 253 |
+
-707.555226422249,
|
| 254 |
+
33.17293615884758
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 1.5707963267948966
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1563.3245908867823,
|
| 266 |
+
-704.555226422249,
|
| 267 |
+
33.17293615884758
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 1.5707963267948966
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1563.3245908867823,
|
| 279 |
+
-701.555226422249,
|
| 280 |
+
33.17293615884758
|
| 281 |
+
],
|
| 282 |
+
"type": "turn left",
|
| 283 |
+
"value": 30,
|
| 284 |
+
"yaw": 1.5707963267948966
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1563.3245908867823,
|
| 292 |
+
-701.555226422249,
|
| 293 |
+
33.17293615884758
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 2.0943951023931953
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1564.8245908867823,
|
| 305 |
+
-698.9571502108956,
|
| 306 |
+
33.17293615884758
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1566.3245908867823,
|
| 318 |
+
-696.3590739995423,
|
| 319 |
+
33.17293615884758
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 2.094395102393186
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1567.8245908867823,
|
| 331 |
+
-693.7609977881889,
|
| 332 |
+
33.17293615884758
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 2.094395102393186
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1569.3245908867823,
|
| 344 |
+
-691.1629215768355,
|
| 345 |
+
33.17293615884758
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 2.094395102393186
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1570.8245908867823,
|
| 357 |
+
-688.5648453654821,
|
| 358 |
+
33.17293615884758
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 2.094395102393186
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1572.3245908867823,
|
| 370 |
+
-685.9667691541288,
|
| 371 |
+
33.17293615884758
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 2.094395102393186
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1573.8245908867823,
|
| 383 |
+
-683.3686929427754,
|
| 384 |
+
33.17293615884758
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 2.094395102393186
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1575.3245908867823,
|
| 396 |
+
-680.770616731422,
|
| 397 |
+
33.17293615884758
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 2.094395102393186
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1576.8245908867823,
|
| 409 |
+
-678.1725405200687,
|
| 410 |
+
33.17293615884758
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 2.094395102393186
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1578.3245908867823,
|
| 422 |
+
-675.5744643087153,
|
| 423 |
+
33.17293615884758
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 2.094395102393186
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-1579.8245908867823,
|
| 435 |
+
-672.9763880973619,
|
| 436 |
+
33.17293615884758
|
| 437 |
+
],
|
| 438 |
+
"type": "stop",
|
| 439 |
+
"value": 0,
|
| 440 |
+
"yaw": 2.094395102393186
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"aim_landmark": {
|
| 445 |
+
"color": "test",
|
| 446 |
+
"feature": "test",
|
| 447 |
+
"position": [
|
| 448 |
+
-1596.0,
|
| 449 |
+
-628.0,
|
| 450 |
+
0.0
|
| 451 |
+
],
|
| 452 |
+
"shape": "test",
|
| 453 |
+
"dir": "center",
|
| 454 |
+
"size": "test",
|
| 455 |
+
"type": "building"
|
| 456 |
+
}
|
| 457 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-2-36_1987231011/pose.jsonl
ADDED
|
@@ -0,0 +1,522 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1303.9738747317258,
|
| 6 |
+
1007.9750168108943,
|
| 7 |
+
33.66429182009779
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 2.094395102393205
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-1305.4738747317258,
|
| 19 |
+
1010.5730930222476,
|
| 20 |
+
33.66429182009779
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 2.094395102393205
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-1306.9738747317258,
|
| 32 |
+
1013.171169233601,
|
| 33 |
+
33.66429182009779
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 2.094395102393186
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-1308.4738747317258,
|
| 45 |
+
1015.7692454449543,
|
| 46 |
+
33.66429182009779
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 2.094395102393186
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-1309.9738747317258,
|
| 58 |
+
1018.3673216563077,
|
| 59 |
+
33.66429182009779
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 2.094395102393186
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-1311.4738747317258,
|
| 71 |
+
1020.9653978676611,
|
| 72 |
+
33.66429182009779
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 2.094395102393186
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-1312.9738747317258,
|
| 84 |
+
1023.5634740790144,
|
| 85 |
+
33.66429182009779
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 2.094395102393186
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-1314.4738747317258,
|
| 97 |
+
1026.1615502903678,
|
| 98 |
+
33.66429182009779
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 2.094395102393186
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-1315.9738747317258,
|
| 110 |
+
1028.7596265017212,
|
| 111 |
+
33.66429182009779
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 2.094395102393186
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-1317.4738747317258,
|
| 123 |
+
1031.3577027130746,
|
| 124 |
+
33.66429182009779
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 2.094395102393186
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-1318.9738747317258,
|
| 136 |
+
1033.955778924428,
|
| 137 |
+
33.66429182009779
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 2.094395102393186
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-1320.4738747317258,
|
| 149 |
+
1036.5538551357813,
|
| 150 |
+
33.66429182009779
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 2.094395102393186
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-1321.9738747317258,
|
| 162 |
+
1039.1519313471347,
|
| 163 |
+
33.66429182009779
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 2.094395102393186
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-1323.4738747317258,
|
| 175 |
+
1041.750007558488,
|
| 176 |
+
33.66429182009779
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 2.094395102393186
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-1324.9738747317258,
|
| 188 |
+
1044.3480837698414,
|
| 189 |
+
33.66429182009779
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 2.094395102393186
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-1326.4738747317258,
|
| 201 |
+
1046.9461599811948,
|
| 202 |
+
33.66429182009779
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 2.094395102393186
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-1327.9738747317258,
|
| 214 |
+
1049.5442361925482,
|
| 215 |
+
33.66429182009779
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 2.094395102393186
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-1329.4738747317258,
|
| 227 |
+
1052.1423124039015,
|
| 228 |
+
33.66429182009779
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 2.094395102393186
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-1330.9738747317258,
|
| 240 |
+
1054.740388615255,
|
| 241 |
+
33.66429182009779
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 2.094395102393186
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-1332.4738747317258,
|
| 253 |
+
1057.3384648266083,
|
| 254 |
+
33.66429182009779
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 2.094395102393186
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-1333.9738747317258,
|
| 266 |
+
1059.9365410379617,
|
| 267 |
+
33.66429182009779
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 2.094395102393186
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-1335.4738747317258,
|
| 279 |
+
1062.534617249315,
|
| 280 |
+
33.66429182009779
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 2.094395102393186
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-1336.9738747317258,
|
| 292 |
+
1065.1326934606684,
|
| 293 |
+
33.66429182009779
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 2.094395102393186
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-1338.4738747317258,
|
| 305 |
+
1067.7307696720218,
|
| 306 |
+
33.66429182009779
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 2.094395102393186
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-1339.9738747317258,
|
| 318 |
+
1070.3288458833752,
|
| 319 |
+
33.66429182009779
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 2.094395102393186
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-1341.4738747317258,
|
| 331 |
+
1072.9269220947285,
|
| 332 |
+
33.66429182009779
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 2.094395102393186
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-1342.9738747317258,
|
| 344 |
+
1075.524998306082,
|
| 345 |
+
33.66429182009779
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 2.094395102393186
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-1344.4738747317258,
|
| 357 |
+
1078.1230745174353,
|
| 358 |
+
33.66429182009779
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 2.094395102393186
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-1345.9738747317258,
|
| 370 |
+
1080.7211507287886,
|
| 371 |
+
33.66429182009779
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 2.094395102393186
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-1347.4738747317258,
|
| 383 |
+
1083.319226940142,
|
| 384 |
+
33.66429182009779
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 2.094395102393186
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-1348.9738747317258,
|
| 396 |
+
1085.9173031514954,
|
| 397 |
+
33.66429182009779
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 2.094395102393186
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-1350.4738747317258,
|
| 409 |
+
1088.5153793628488,
|
| 410 |
+
33.66429182009779
|
| 411 |
+
],
|
| 412 |
+
"type": "turn right",
|
| 413 |
+
"value": 30,
|
| 414 |
+
"yaw": 2.094395102393186
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-1350.4738747317258,
|
| 422 |
+
1088.5153793628488,
|
| 423 |
+
33.66429182009779
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 1.5707963267948872
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-1350.4738747317258,
|
| 435 |
+
1091.5153793628488,
|
| 436 |
+
33.66429182009779
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 1.5707963267948966
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-1350.4738747317258,
|
| 448 |
+
1094.5153793628488,
|
| 449 |
+
33.66429182009779
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 1.5707963267948966
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-1350.4738747317258,
|
| 461 |
+
1097.5153793628488,
|
| 462 |
+
33.66429182009779
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 1.5707963267948966
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-1350.4738747317258,
|
| 474 |
+
1100.5153793628488,
|
| 475 |
+
33.66429182009779
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": 1.5707963267948966
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-1350.4738747317258,
|
| 487 |
+
1103.5153793628488,
|
| 488 |
+
33.66429182009779
|
| 489 |
+
],
|
| 490 |
+
"type": "go straight",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": 1.5707963267948966
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-1350.4738747317258,
|
| 500 |
+
1106.5153793628488,
|
| 501 |
+
33.66429182009779
|
| 502 |
+
],
|
| 503 |
+
"type": "stop",
|
| 504 |
+
"value": 0,
|
| 505 |
+
"yaw": 1.5707963267948966
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"aim_landmark": {
|
| 510 |
+
"color": "test",
|
| 511 |
+
"feature": "test",
|
| 512 |
+
"position": [
|
| 513 |
+
-1364.0,
|
| 514 |
+
1136.0,
|
| 515 |
+
0.0
|
| 516 |
+
],
|
| 517 |
+
"shape": "test",
|
| 518 |
+
"dir": "center",
|
| 519 |
+
"size": "test",
|
| 520 |
+
"type": "building"
|
| 521 |
+
}
|
| 522 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-21-50_1789376348/pose.jsonl
ADDED
|
@@ -0,0 +1,535 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-620.0633995042426,
|
| 6 |
+
1532.6468415647594,
|
| 7 |
+
38.84876653641127
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -2.6179938779915037
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
-622.661475715596,
|
| 19 |
+
1531.1468415647594,
|
| 20 |
+
38.84876653641127
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -2.6179938779915037
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
-625.2595519269494,
|
| 32 |
+
1529.6468415647594,
|
| 33 |
+
38.84876653641127
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -2.6179938779915037
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
-627.8576281383027,
|
| 45 |
+
1528.1468415647594,
|
| 46 |
+
38.84876653641127
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -2.6179938779915037
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
-630.4557043496561,
|
| 58 |
+
1526.6468415647594,
|
| 59 |
+
38.84876653641127
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -2.6179938779915037
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
-633.0537805610095,
|
| 71 |
+
1525.1468415647594,
|
| 72 |
+
38.84876653641127
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -2.6179938779915037
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
-635.6518567723629,
|
| 84 |
+
1523.6468415647594,
|
| 85 |
+
38.84876653641127
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -2.6179938779915037
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
-638.2499329837162,
|
| 97 |
+
1522.1468415647594,
|
| 98 |
+
38.84876653641127
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -2.6179938779915037
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
-640.8480091950696,
|
| 110 |
+
1520.6468415647594,
|
| 111 |
+
38.84876653641127
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -2.6179938779915037
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
-643.446085406423,
|
| 123 |
+
1519.1468415647594,
|
| 124 |
+
38.84876653641127
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -2.6179938779915037
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
-646.0441616177764,
|
| 136 |
+
1517.6468415647594,
|
| 137 |
+
38.84876653641127
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -2.6179938779915037
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
-648.6422378291297,
|
| 149 |
+
1516.1468415647594,
|
| 150 |
+
38.84876653641127
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -2.6179938779915037
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
-651.2403140404831,
|
| 162 |
+
1514.6468415647594,
|
| 163 |
+
38.84876653641127
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -2.6179938779915037
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
-653.8383902518365,
|
| 175 |
+
1513.1468415647594,
|
| 176 |
+
38.84876653641127
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -2.6179938779915037
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
-656.4364664631898,
|
| 188 |
+
1511.6468415647594,
|
| 189 |
+
38.84876653641127
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -2.6179938779915037
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
-659.0345426745432,
|
| 201 |
+
1510.1468415647594,
|
| 202 |
+
38.84876653641127
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -2.6179938779915037
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
-661.6326188858966,
|
| 214 |
+
1508.6468415647594,
|
| 215 |
+
38.84876653641127
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -2.6179938779915037
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
-664.23069509725,
|
| 227 |
+
1507.1468415647594,
|
| 228 |
+
38.84876653641127
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -2.6179938779915037
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
-666.8287713086033,
|
| 240 |
+
1505.6468415647594,
|
| 241 |
+
38.84876653641127
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -2.6179938779915037
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
-669.4268475199567,
|
| 253 |
+
1504.1468415647594,
|
| 254 |
+
38.84876653641127
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -2.6179938779915037
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
-672.0249237313101,
|
| 266 |
+
1502.6468415647594,
|
| 267 |
+
38.84876653641127
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -2.6179938779915037
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
-674.6229999426635,
|
| 279 |
+
1501.1468415647594,
|
| 280 |
+
38.84876653641127
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -2.6179938779915037
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
-677.2210761540168,
|
| 292 |
+
1499.6468415647594,
|
| 293 |
+
38.84876653641127
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -2.6179938779915037
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
-679.8191523653702,
|
| 305 |
+
1498.1468415647594,
|
| 306 |
+
38.84876653641127
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -2.6179938779915037
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
-682.4172285767236,
|
| 318 |
+
1496.6468415647594,
|
| 319 |
+
38.84876653641127
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -2.6179938779915037
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
-685.015304788077,
|
| 331 |
+
1495.1468415647594,
|
| 332 |
+
38.84876653641127
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -2.6179938779915037
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
-687.6133809994303,
|
| 344 |
+
1493.6468415647594,
|
| 345 |
+
38.84876653641127
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -2.6179938779915037
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
-690.2114572107837,
|
| 357 |
+
1492.1468415647594,
|
| 358 |
+
38.84876653641127
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -2.6179938779915037
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
-692.8095334221371,
|
| 370 |
+
1490.6468415647594,
|
| 371 |
+
38.84876653641127
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -2.6179938779915037
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
-695.4076096334904,
|
| 383 |
+
1489.1468415647594,
|
| 384 |
+
38.84876653641127
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -2.6179938779915037
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
-698.0056858448438,
|
| 396 |
+
1487.6468415647594,
|
| 397 |
+
38.84876653641127
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -2.6179938779915037
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
-700.6037620561972,
|
| 409 |
+
1486.1468415647594,
|
| 410 |
+
38.84876653641127
|
| 411 |
+
],
|
| 412 |
+
"type": "turn right",
|
| 413 |
+
"value": 30,
|
| 414 |
+
"yaw": -2.6179938779915037
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
-700.6037620561972,
|
| 422 |
+
1486.1468415647594,
|
| 423 |
+
38.84876653641127
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -3.1415926535898024
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
-703.6037620561972,
|
| 435 |
+
1486.1468415647594,
|
| 436 |
+
38.84876653641127
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 3.141592653589793
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
-706.6037620561972,
|
| 448 |
+
1486.1468415647594,
|
| 449 |
+
38.84876653641127
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 3.141592653589793
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
-709.6037620561972,
|
| 461 |
+
1486.1468415647594,
|
| 462 |
+
38.84876653641127
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 3.141592653589793
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
-712.6037620561972,
|
| 474 |
+
1486.1468415647594,
|
| 475 |
+
38.84876653641127
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": 3.141592653589793
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
-715.6037620561972,
|
| 487 |
+
1486.1468415647594,
|
| 488 |
+
38.84876653641127
|
| 489 |
+
],
|
| 490 |
+
"type": "go straight",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": 3.141592653589793
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
-718.6037620561972,
|
| 500 |
+
1486.1468415647594,
|
| 501 |
+
38.84876653641127
|
| 502 |
+
],
|
| 503 |
+
"type": "go straight",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": 3.141592653589793
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
-721.6037620561972,
|
| 513 |
+
1486.1468415647594,
|
| 514 |
+
38.84876653641127
|
| 515 |
+
],
|
| 516 |
+
"type": "stop",
|
| 517 |
+
"value": 0,
|
| 518 |
+
"yaw": 3.141592653589793
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"aim_landmark": {
|
| 523 |
+
"color": "test",
|
| 524 |
+
"feature": "test",
|
| 525 |
+
"position": [
|
| 526 |
+
-748.0,
|
| 527 |
+
1472.0,
|
| 528 |
+
0.0
|
| 529 |
+
],
|
| 530 |
+
"shape": "test",
|
| 531 |
+
"dir": "left",
|
| 532 |
+
"size": "test",
|
| 533 |
+
"type": "building"
|
| 534 |
+
}
|
| 535 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-33-42_238962600/pose.jsonl
ADDED
|
@@ -0,0 +1,626 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
579.9098221825957,
|
| 6 |
+
-461.1413885025048,
|
| 7 |
+
34.1686116250731
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
582.9098221825957,
|
| 19 |
+
-461.1413885025048,
|
| 20 |
+
34.1686116250731
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
585.9098221825957,
|
| 32 |
+
-461.1413885025048,
|
| 33 |
+
34.1686116250731
|
| 34 |
+
],
|
| 35 |
+
"type": "turn left",
|
| 36 |
+
"value": 30,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
585.9098221825957,
|
| 45 |
+
-461.1413885025048,
|
| 46 |
+
34.1686116250731
|
| 47 |
+
],
|
| 48 |
+
"type": "turn left",
|
| 49 |
+
"value": 30,
|
| 50 |
+
"yaw": 0.5235987755982988
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
585.9098221825957,
|
| 58 |
+
-461.1413885025048,
|
| 59 |
+
34.1686116250731
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": 1.0471975511965976
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
587.4098221825957,
|
| 71 |
+
-458.5433122911515,
|
| 72 |
+
34.1686116250731
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 1.0471975511965979
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
588.9098221825957,
|
| 84 |
+
-455.9452360797982,
|
| 85 |
+
34.1686116250731
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 1.0471975511965979
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
590.4098221825957,
|
| 97 |
+
-453.34715986844486,
|
| 98 |
+
34.1686116250731
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 1.0471975511965979
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
591.9098221825957,
|
| 110 |
+
-450.74908365709155,
|
| 111 |
+
34.1686116250731
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 1.0471975511965979
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
593.4098221825957,
|
| 123 |
+
-448.15100744573823,
|
| 124 |
+
34.1686116250731
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 1.0471975511965979
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
594.9098221825957,
|
| 136 |
+
-445.5529312343849,
|
| 137 |
+
34.1686116250731
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 1.0471975511965979
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
596.4098221825957,
|
| 149 |
+
-442.9548550230316,
|
| 150 |
+
34.1686116250731
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": 1.0471975511965979
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
597.9098221825957,
|
| 162 |
+
-440.3567788116783,
|
| 163 |
+
34.1686116250731
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": 1.0471975511965979
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
599.4098221825957,
|
| 175 |
+
-437.75870260032497,
|
| 176 |
+
34.1686116250731
|
| 177 |
+
],
|
| 178 |
+
"type": "turn right",
|
| 179 |
+
"value": 30,
|
| 180 |
+
"yaw": 1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
599.4098221825957,
|
| 188 |
+
-437.75870260032497,
|
| 189 |
+
34.1686116250731
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.523598775598299
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
602.0078983939491,
|
| 201 |
+
-436.25870260032497,
|
| 202 |
+
34.1686116250731
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": 0.5235987755982894
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
604.6059746053024,
|
| 214 |
+
-434.75870260032497,
|
| 215 |
+
34.1686116250731
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": 0.5235987755982894
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
607.2040508166558,
|
| 227 |
+
-433.25870260032497,
|
| 228 |
+
34.1686116250731
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": 0.5235987755982894
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
609.8021270280092,
|
| 240 |
+
-431.75870260032497,
|
| 241 |
+
34.1686116250731
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": 0.5235987755982894
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
612.4002032393626,
|
| 253 |
+
-430.25870260032497,
|
| 254 |
+
34.1686116250731
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": 0.5235987755982894
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
614.9982794507159,
|
| 266 |
+
-428.75870260032497,
|
| 267 |
+
34.1686116250731
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": 0.5235987755982894
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
617.5963556620693,
|
| 279 |
+
-427.25870260032497,
|
| 280 |
+
34.1686116250731
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": 0.5235987755982894
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
620.1944318734227,
|
| 292 |
+
-425.75870260032497,
|
| 293 |
+
34.1686116250731
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": 0.5235987755982894
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
622.792508084776,
|
| 305 |
+
-424.25870260032497,
|
| 306 |
+
34.1686116250731
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": 0.5235987755982894
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
625.3905842961294,
|
| 318 |
+
-422.75870260032497,
|
| 319 |
+
34.1686116250731
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": 0.5235987755982894
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
627.9886605074828,
|
| 331 |
+
-421.25870260032497,
|
| 332 |
+
34.1686116250731
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": 0.5235987755982894
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
630.5867367188362,
|
| 344 |
+
-419.75870260032497,
|
| 345 |
+
34.1686116250731
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": 0.5235987755982894
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
633.1848129301895,
|
| 357 |
+
-418.25870260032497,
|
| 358 |
+
34.1686116250731
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": 0.5235987755982894
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
635.7828891415429,
|
| 370 |
+
-416.75870260032497,
|
| 371 |
+
34.1686116250731
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": 0.5235987755982894
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
638.3809653528963,
|
| 383 |
+
-415.25870260032497,
|
| 384 |
+
34.1686116250731
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": 0.5235987755982894
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
640.9790415642497,
|
| 396 |
+
-413.75870260032497,
|
| 397 |
+
34.1686116250731
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": 0.5235987755982894
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
643.577117775603,
|
| 409 |
+
-412.25870260032497,
|
| 410 |
+
34.1686116250731
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": 0.5235987755982894
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
646.1751939869564,
|
| 422 |
+
-410.75870260032497,
|
| 423 |
+
34.1686116250731
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": 0.5235987755982894
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
648.7732701983098,
|
| 435 |
+
-409.25870260032497,
|
| 436 |
+
34.1686116250731
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": 0.5235987755982894
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
651.3713464096631,
|
| 448 |
+
-407.75870260032497,
|
| 449 |
+
34.1686116250731
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": 0.5235987755982894
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
653.9694226210165,
|
| 461 |
+
-406.25870260032497,
|
| 462 |
+
34.1686116250731
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": 0.5235987755982894
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
656.5674988323699,
|
| 474 |
+
-404.75870260032497,
|
| 475 |
+
34.1686116250731
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": 0.5235987755982894
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
659.1655750437233,
|
| 487 |
+
-403.25870260032497,
|
| 488 |
+
34.1686116250731
|
| 489 |
+
],
|
| 490 |
+
"type": "go straight",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": 0.5235987755982894
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
661.7636512550766,
|
| 500 |
+
-401.75870260032497,
|
| 501 |
+
34.1686116250731
|
| 502 |
+
],
|
| 503 |
+
"type": "go straight",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": 0.5235987755982894
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
664.36172746643,
|
| 513 |
+
-400.25870260032497,
|
| 514 |
+
34.1686116250731
|
| 515 |
+
],
|
| 516 |
+
"type": "turn left",
|
| 517 |
+
"value": 30,
|
| 518 |
+
"yaw": 0.5235987755982894
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"action": {
|
| 523 |
+
"imageid": 40,
|
| 524 |
+
"pos": [
|
| 525 |
+
664.36172746643,
|
| 526 |
+
-400.25870260032497,
|
| 527 |
+
34.1686116250731
|
| 528 |
+
],
|
| 529 |
+
"type": "go straight",
|
| 530 |
+
"value": 3,
|
| 531 |
+
"yaw": 1.047197551196588
|
| 532 |
+
}
|
| 533 |
+
}
|
| 534 |
+
{
|
| 535 |
+
"action": {
|
| 536 |
+
"imageid": 41,
|
| 537 |
+
"pos": [
|
| 538 |
+
665.86172746643,
|
| 539 |
+
-397.66062638897165,
|
| 540 |
+
34.1686116250731
|
| 541 |
+
],
|
| 542 |
+
"type": "go straight",
|
| 543 |
+
"value": 3,
|
| 544 |
+
"yaw": 1.0471975511965979
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
{
|
| 548 |
+
"action": {
|
| 549 |
+
"imageid": 42,
|
| 550 |
+
"pos": [
|
| 551 |
+
667.36172746643,
|
| 552 |
+
-395.06255017761833,
|
| 553 |
+
34.1686116250731
|
| 554 |
+
],
|
| 555 |
+
"type": "go straight",
|
| 556 |
+
"value": 3,
|
| 557 |
+
"yaw": 1.0471975511965979
|
| 558 |
+
}
|
| 559 |
+
}
|
| 560 |
+
{
|
| 561 |
+
"action": {
|
| 562 |
+
"imageid": 43,
|
| 563 |
+
"pos": [
|
| 564 |
+
668.86172746643,
|
| 565 |
+
-392.464473966265,
|
| 566 |
+
34.1686116250731
|
| 567 |
+
],
|
| 568 |
+
"type": "go straight",
|
| 569 |
+
"value": 3,
|
| 570 |
+
"yaw": 1.0471975511965979
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
{
|
| 574 |
+
"action": {
|
| 575 |
+
"imageid": 44,
|
| 576 |
+
"pos": [
|
| 577 |
+
670.36172746643,
|
| 578 |
+
-389.8663977549117,
|
| 579 |
+
34.1686116250731
|
| 580 |
+
],
|
| 581 |
+
"type": "go straight",
|
| 582 |
+
"value": 3,
|
| 583 |
+
"yaw": 1.0471975511965979
|
| 584 |
+
}
|
| 585 |
+
}
|
| 586 |
+
{
|
| 587 |
+
"action": {
|
| 588 |
+
"imageid": 45,
|
| 589 |
+
"pos": [
|
| 590 |
+
671.86172746643,
|
| 591 |
+
-387.2683215435584,
|
| 592 |
+
34.1686116250731
|
| 593 |
+
],
|
| 594 |
+
"type": "go straight",
|
| 595 |
+
"value": 3,
|
| 596 |
+
"yaw": 1.0471975511965979
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
{
|
| 600 |
+
"action": {
|
| 601 |
+
"imageid": 46,
|
| 602 |
+
"pos": [
|
| 603 |
+
673.36172746643,
|
| 604 |
+
-384.67024533220507,
|
| 605 |
+
34.1686116250731
|
| 606 |
+
],
|
| 607 |
+
"type": "stop",
|
| 608 |
+
"value": 0,
|
| 609 |
+
"yaw": 1.0471975511965979
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
{
|
| 613 |
+
"aim_landmark": {
|
| 614 |
+
"color": "test",
|
| 615 |
+
"feature": "test",
|
| 616 |
+
"position": [
|
| 617 |
+
688.0,
|
| 618 |
+
-372.0,
|
| 619 |
+
0.0
|
| 620 |
+
],
|
| 621 |
+
"shape": "test",
|
| 622 |
+
"dir": "center",
|
| 623 |
+
"size": "test",
|
| 624 |
+
"type": "building"
|
| 625 |
+
}
|
| 626 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_21-36-29_1665947468/pose.jsonl
ADDED
|
@@ -0,0 +1,678 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1250.9295945807032,
|
| 6 |
+
1071.5069901349734,
|
| 7 |
+
36.8752718849498
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": 0.0
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1253.9295945807032,
|
| 19 |
+
1071.5069901349734,
|
| 20 |
+
36.8752718849498
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": 0.0
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1256.9295945807032,
|
| 32 |
+
1071.5069901349734,
|
| 33 |
+
36.8752718849498
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": 0.0
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1259.9295945807032,
|
| 45 |
+
1071.5069901349734,
|
| 46 |
+
36.8752718849498
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": 0.0
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1262.9295945807032,
|
| 58 |
+
1071.5069901349734,
|
| 59 |
+
36.8752718849498
|
| 60 |
+
],
|
| 61 |
+
"type": "turn left",
|
| 62 |
+
"value": 30,
|
| 63 |
+
"yaw": 0.0
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1262.9295945807032,
|
| 71 |
+
1071.5069901349734,
|
| 72 |
+
36.8752718849498
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": 0.5235987755982988
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1265.5276707920566,
|
| 84 |
+
1073.0069901349734,
|
| 85 |
+
36.8752718849498
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": 0.5235987755982894
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1268.12574700341,
|
| 97 |
+
1074.5069901349734,
|
| 98 |
+
36.8752718849498
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": 0.5235987755982894
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1270.7238232147633,
|
| 110 |
+
1076.0069901349734,
|
| 111 |
+
36.8752718849498
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": 0.5235987755982894
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1273.3218994261167,
|
| 123 |
+
1077.5069901349734,
|
| 124 |
+
36.8752718849498
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": 0.5235987755982894
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1275.91997563747,
|
| 136 |
+
1079.0069901349734,
|
| 137 |
+
36.8752718849498
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": 0.5235987755982894
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1278.5180518488235,
|
| 149 |
+
1080.5069901349734,
|
| 150 |
+
36.8752718849498
|
| 151 |
+
],
|
| 152 |
+
"type": "turn right",
|
| 153 |
+
"value": 30,
|
| 154 |
+
"yaw": 0.5235987755982894
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1278.5180518488235,
|
| 162 |
+
1080.5069901349734,
|
| 163 |
+
36.8752718849498
|
| 164 |
+
],
|
| 165 |
+
"type": "go straight",
|
| 166 |
+
"value": 3,
|
| 167 |
+
"yaw": -9.43689570931383e-15
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1281.5180518488235,
|
| 175 |
+
1080.5069901349734,
|
| 176 |
+
36.8752718849498
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": 0.0
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1284.5180518488235,
|
| 188 |
+
1080.5069901349734,
|
| 189 |
+
36.8752718849498
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": 0.0
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1287.5180518488235,
|
| 201 |
+
1080.5069901349734,
|
| 202 |
+
36.8752718849498
|
| 203 |
+
],
|
| 204 |
+
"type": "turn right",
|
| 205 |
+
"value": 30,
|
| 206 |
+
"yaw": 0.0
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1287.5180518488235,
|
| 214 |
+
1080.5069901349734,
|
| 215 |
+
36.8752718849498
|
| 216 |
+
],
|
| 217 |
+
"type": "turn right",
|
| 218 |
+
"value": 30,
|
| 219 |
+
"yaw": -0.5235987755982988
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1287.5180518488235,
|
| 227 |
+
1080.5069901349734,
|
| 228 |
+
36.8752718849498
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965976
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1289.0180518488235,
|
| 240 |
+
1077.90891392362,
|
| 241 |
+
36.8752718849498
|
| 242 |
+
],
|
| 243 |
+
"type": "go straight",
|
| 244 |
+
"value": 3,
|
| 245 |
+
"yaw": -1.0471975511966072
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"action": {
|
| 250 |
+
"imageid": 19,
|
| 251 |
+
"pos": [
|
| 252 |
+
1290.5180518488235,
|
| 253 |
+
1075.3108377122667,
|
| 254 |
+
36.8752718849498
|
| 255 |
+
],
|
| 256 |
+
"type": "go straight",
|
| 257 |
+
"value": 3,
|
| 258 |
+
"yaw": -1.0471975511966072
|
| 259 |
+
}
|
| 260 |
+
}
|
| 261 |
+
{
|
| 262 |
+
"action": {
|
| 263 |
+
"imageid": 20,
|
| 264 |
+
"pos": [
|
| 265 |
+
1292.0180518488235,
|
| 266 |
+
1072.7127615009133,
|
| 267 |
+
36.8752718849498
|
| 268 |
+
],
|
| 269 |
+
"type": "go straight",
|
| 270 |
+
"value": 3,
|
| 271 |
+
"yaw": -1.0471975511966072
|
| 272 |
+
}
|
| 273 |
+
}
|
| 274 |
+
{
|
| 275 |
+
"action": {
|
| 276 |
+
"imageid": 21,
|
| 277 |
+
"pos": [
|
| 278 |
+
1293.5180518488235,
|
| 279 |
+
1070.11468528956,
|
| 280 |
+
36.8752718849498
|
| 281 |
+
],
|
| 282 |
+
"type": "go straight",
|
| 283 |
+
"value": 3,
|
| 284 |
+
"yaw": -1.0471975511966072
|
| 285 |
+
}
|
| 286 |
+
}
|
| 287 |
+
{
|
| 288 |
+
"action": {
|
| 289 |
+
"imageid": 22,
|
| 290 |
+
"pos": [
|
| 291 |
+
1295.0180518488235,
|
| 292 |
+
1067.5166090782066,
|
| 293 |
+
36.8752718849498
|
| 294 |
+
],
|
| 295 |
+
"type": "go straight",
|
| 296 |
+
"value": 3,
|
| 297 |
+
"yaw": -1.0471975511966072
|
| 298 |
+
}
|
| 299 |
+
}
|
| 300 |
+
{
|
| 301 |
+
"action": {
|
| 302 |
+
"imageid": 23,
|
| 303 |
+
"pos": [
|
| 304 |
+
1296.5180518488235,
|
| 305 |
+
1064.9185328668532,
|
| 306 |
+
36.8752718849498
|
| 307 |
+
],
|
| 308 |
+
"type": "go straight",
|
| 309 |
+
"value": 3,
|
| 310 |
+
"yaw": -1.0471975511966072
|
| 311 |
+
}
|
| 312 |
+
}
|
| 313 |
+
{
|
| 314 |
+
"action": {
|
| 315 |
+
"imageid": 24,
|
| 316 |
+
"pos": [
|
| 317 |
+
1298.0180518488235,
|
| 318 |
+
1062.3204566554998,
|
| 319 |
+
36.8752718849498
|
| 320 |
+
],
|
| 321 |
+
"type": "go straight",
|
| 322 |
+
"value": 3,
|
| 323 |
+
"yaw": -1.0471975511966072
|
| 324 |
+
}
|
| 325 |
+
}
|
| 326 |
+
{
|
| 327 |
+
"action": {
|
| 328 |
+
"imageid": 25,
|
| 329 |
+
"pos": [
|
| 330 |
+
1299.5180518488235,
|
| 331 |
+
1059.7223804441464,
|
| 332 |
+
36.8752718849498
|
| 333 |
+
],
|
| 334 |
+
"type": "go straight",
|
| 335 |
+
"value": 3,
|
| 336 |
+
"yaw": -1.0471975511966072
|
| 337 |
+
}
|
| 338 |
+
}
|
| 339 |
+
{
|
| 340 |
+
"action": {
|
| 341 |
+
"imageid": 26,
|
| 342 |
+
"pos": [
|
| 343 |
+
1301.0180518488235,
|
| 344 |
+
1057.124304232793,
|
| 345 |
+
36.8752718849498
|
| 346 |
+
],
|
| 347 |
+
"type": "go straight",
|
| 348 |
+
"value": 3,
|
| 349 |
+
"yaw": -1.0471975511966072
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
{
|
| 353 |
+
"action": {
|
| 354 |
+
"imageid": 27,
|
| 355 |
+
"pos": [
|
| 356 |
+
1302.5180518488235,
|
| 357 |
+
1054.5262280214397,
|
| 358 |
+
36.8752718849498
|
| 359 |
+
],
|
| 360 |
+
"type": "go straight",
|
| 361 |
+
"value": 3,
|
| 362 |
+
"yaw": -1.0471975511966072
|
| 363 |
+
}
|
| 364 |
+
}
|
| 365 |
+
{
|
| 366 |
+
"action": {
|
| 367 |
+
"imageid": 28,
|
| 368 |
+
"pos": [
|
| 369 |
+
1304.0180518488235,
|
| 370 |
+
1051.9281518100863,
|
| 371 |
+
36.8752718849498
|
| 372 |
+
],
|
| 373 |
+
"type": "go straight",
|
| 374 |
+
"value": 3,
|
| 375 |
+
"yaw": -1.0471975511966072
|
| 376 |
+
}
|
| 377 |
+
}
|
| 378 |
+
{
|
| 379 |
+
"action": {
|
| 380 |
+
"imageid": 29,
|
| 381 |
+
"pos": [
|
| 382 |
+
1305.5180518488235,
|
| 383 |
+
1049.330075598733,
|
| 384 |
+
36.8752718849498
|
| 385 |
+
],
|
| 386 |
+
"type": "go straight",
|
| 387 |
+
"value": 3,
|
| 388 |
+
"yaw": -1.0471975511966072
|
| 389 |
+
}
|
| 390 |
+
}
|
| 391 |
+
{
|
| 392 |
+
"action": {
|
| 393 |
+
"imageid": 30,
|
| 394 |
+
"pos": [
|
| 395 |
+
1307.0180518488235,
|
| 396 |
+
1046.7319993873796,
|
| 397 |
+
36.8752718849498
|
| 398 |
+
],
|
| 399 |
+
"type": "go straight",
|
| 400 |
+
"value": 3,
|
| 401 |
+
"yaw": -1.0471975511966072
|
| 402 |
+
}
|
| 403 |
+
}
|
| 404 |
+
{
|
| 405 |
+
"action": {
|
| 406 |
+
"imageid": 31,
|
| 407 |
+
"pos": [
|
| 408 |
+
1308.5180518488235,
|
| 409 |
+
1044.1339231760262,
|
| 410 |
+
36.8752718849498
|
| 411 |
+
],
|
| 412 |
+
"type": "go straight",
|
| 413 |
+
"value": 3,
|
| 414 |
+
"yaw": -1.0471975511966072
|
| 415 |
+
}
|
| 416 |
+
}
|
| 417 |
+
{
|
| 418 |
+
"action": {
|
| 419 |
+
"imageid": 32,
|
| 420 |
+
"pos": [
|
| 421 |
+
1310.0180518488235,
|
| 422 |
+
1041.5358469646728,
|
| 423 |
+
36.8752718849498
|
| 424 |
+
],
|
| 425 |
+
"type": "go straight",
|
| 426 |
+
"value": 3,
|
| 427 |
+
"yaw": -1.0471975511966072
|
| 428 |
+
}
|
| 429 |
+
}
|
| 430 |
+
{
|
| 431 |
+
"action": {
|
| 432 |
+
"imageid": 33,
|
| 433 |
+
"pos": [
|
| 434 |
+
1311.5180518488235,
|
| 435 |
+
1038.9377707533195,
|
| 436 |
+
36.8752718849498
|
| 437 |
+
],
|
| 438 |
+
"type": "go straight",
|
| 439 |
+
"value": 3,
|
| 440 |
+
"yaw": -1.0471975511966072
|
| 441 |
+
}
|
| 442 |
+
}
|
| 443 |
+
{
|
| 444 |
+
"action": {
|
| 445 |
+
"imageid": 34,
|
| 446 |
+
"pos": [
|
| 447 |
+
1313.0180518488235,
|
| 448 |
+
1036.339694541966,
|
| 449 |
+
36.8752718849498
|
| 450 |
+
],
|
| 451 |
+
"type": "go straight",
|
| 452 |
+
"value": 3,
|
| 453 |
+
"yaw": -1.0471975511966072
|
| 454 |
+
}
|
| 455 |
+
}
|
| 456 |
+
{
|
| 457 |
+
"action": {
|
| 458 |
+
"imageid": 35,
|
| 459 |
+
"pos": [
|
| 460 |
+
1314.5180518488235,
|
| 461 |
+
1033.7416183306127,
|
| 462 |
+
36.8752718849498
|
| 463 |
+
],
|
| 464 |
+
"type": "go straight",
|
| 465 |
+
"value": 3,
|
| 466 |
+
"yaw": -1.0471975511966072
|
| 467 |
+
}
|
| 468 |
+
}
|
| 469 |
+
{
|
| 470 |
+
"action": {
|
| 471 |
+
"imageid": 36,
|
| 472 |
+
"pos": [
|
| 473 |
+
1316.0180518488235,
|
| 474 |
+
1031.1435421192593,
|
| 475 |
+
36.8752718849498
|
| 476 |
+
],
|
| 477 |
+
"type": "go straight",
|
| 478 |
+
"value": 3,
|
| 479 |
+
"yaw": -1.0471975511966072
|
| 480 |
+
}
|
| 481 |
+
}
|
| 482 |
+
{
|
| 483 |
+
"action": {
|
| 484 |
+
"imageid": 37,
|
| 485 |
+
"pos": [
|
| 486 |
+
1317.5180518488235,
|
| 487 |
+
1028.545465907906,
|
| 488 |
+
36.8752718849498
|
| 489 |
+
],
|
| 490 |
+
"type": "go straight",
|
| 491 |
+
"value": 3,
|
| 492 |
+
"yaw": -1.0471975511966072
|
| 493 |
+
}
|
| 494 |
+
}
|
| 495 |
+
{
|
| 496 |
+
"action": {
|
| 497 |
+
"imageid": 38,
|
| 498 |
+
"pos": [
|
| 499 |
+
1319.0180518488235,
|
| 500 |
+
1025.9473896965526,
|
| 501 |
+
36.8752718849498
|
| 502 |
+
],
|
| 503 |
+
"type": "go straight",
|
| 504 |
+
"value": 3,
|
| 505 |
+
"yaw": -1.0471975511966072
|
| 506 |
+
}
|
| 507 |
+
}
|
| 508 |
+
{
|
| 509 |
+
"action": {
|
| 510 |
+
"imageid": 39,
|
| 511 |
+
"pos": [
|
| 512 |
+
1320.5180518488235,
|
| 513 |
+
1023.3493134851992,
|
| 514 |
+
36.8752718849498
|
| 515 |
+
],
|
| 516 |
+
"type": "go straight",
|
| 517 |
+
"value": 3,
|
| 518 |
+
"yaw": -1.0471975511966072
|
| 519 |
+
}
|
| 520 |
+
}
|
| 521 |
+
{
|
| 522 |
+
"action": {
|
| 523 |
+
"imageid": 40,
|
| 524 |
+
"pos": [
|
| 525 |
+
1322.0180518488235,
|
| 526 |
+
1020.7512372738458,
|
| 527 |
+
36.8752718849498
|
| 528 |
+
],
|
| 529 |
+
"type": "go straight",
|
| 530 |
+
"value": 3,
|
| 531 |
+
"yaw": -1.0471975511966072
|
| 532 |
+
}
|
| 533 |
+
}
|
| 534 |
+
{
|
| 535 |
+
"action": {
|
| 536 |
+
"imageid": 41,
|
| 537 |
+
"pos": [
|
| 538 |
+
1323.5180518488235,
|
| 539 |
+
1018.1531610624925,
|
| 540 |
+
36.8752718849498
|
| 541 |
+
],
|
| 542 |
+
"type": "go straight",
|
| 543 |
+
"value": 3,
|
| 544 |
+
"yaw": -1.0471975511966072
|
| 545 |
+
}
|
| 546 |
+
}
|
| 547 |
+
{
|
| 548 |
+
"action": {
|
| 549 |
+
"imageid": 42,
|
| 550 |
+
"pos": [
|
| 551 |
+
1325.0180518488235,
|
| 552 |
+
1015.5550848511391,
|
| 553 |
+
36.8752718849498
|
| 554 |
+
],
|
| 555 |
+
"type": "turn left",
|
| 556 |
+
"value": 30,
|
| 557 |
+
"yaw": -1.0471975511966072
|
| 558 |
+
}
|
| 559 |
+
}
|
| 560 |
+
{
|
| 561 |
+
"action": {
|
| 562 |
+
"imageid": 43,
|
| 563 |
+
"pos": [
|
| 564 |
+
1325.0180518488235,
|
| 565 |
+
1015.5550848511391,
|
| 566 |
+
36.8752718849498
|
| 567 |
+
],
|
| 568 |
+
"type": "go straight",
|
| 569 |
+
"value": 3,
|
| 570 |
+
"yaw": -0.5235987755983084
|
| 571 |
+
}
|
| 572 |
+
}
|
| 573 |
+
{
|
| 574 |
+
"action": {
|
| 575 |
+
"imageid": 44,
|
| 576 |
+
"pos": [
|
| 577 |
+
1327.6161280601768,
|
| 578 |
+
1014.0550848511391,
|
| 579 |
+
36.8752718849498
|
| 580 |
+
],
|
| 581 |
+
"type": "go straight",
|
| 582 |
+
"value": 3,
|
| 583 |
+
"yaw": -0.5235987755982894
|
| 584 |
+
}
|
| 585 |
+
}
|
| 586 |
+
{
|
| 587 |
+
"action": {
|
| 588 |
+
"imageid": 45,
|
| 589 |
+
"pos": [
|
| 590 |
+
1330.2142042715302,
|
| 591 |
+
1012.5550848511391,
|
| 592 |
+
36.8752718849498
|
| 593 |
+
],
|
| 594 |
+
"type": "go straight",
|
| 595 |
+
"value": 3,
|
| 596 |
+
"yaw": -0.5235987755982894
|
| 597 |
+
}
|
| 598 |
+
}
|
| 599 |
+
{
|
| 600 |
+
"action": {
|
| 601 |
+
"imageid": 46,
|
| 602 |
+
"pos": [
|
| 603 |
+
1332.8122804828836,
|
| 604 |
+
1011.0550848511391,
|
| 605 |
+
36.8752718849498
|
| 606 |
+
],
|
| 607 |
+
"type": "go straight",
|
| 608 |
+
"value": 3,
|
| 609 |
+
"yaw": -0.5235987755982894
|
| 610 |
+
}
|
| 611 |
+
}
|
| 612 |
+
{
|
| 613 |
+
"action": {
|
| 614 |
+
"imageid": 47,
|
| 615 |
+
"pos": [
|
| 616 |
+
1335.410356694237,
|
| 617 |
+
1009.5550848511391,
|
| 618 |
+
36.8752718849498
|
| 619 |
+
],
|
| 620 |
+
"type": "go straight",
|
| 621 |
+
"value": 3,
|
| 622 |
+
"yaw": -0.5235987755982894
|
| 623 |
+
}
|
| 624 |
+
}
|
| 625 |
+
{
|
| 626 |
+
"action": {
|
| 627 |
+
"imageid": 48,
|
| 628 |
+
"pos": [
|
| 629 |
+
1338.0084329055903,
|
| 630 |
+
1008.0550848511391,
|
| 631 |
+
36.8752718849498
|
| 632 |
+
],
|
| 633 |
+
"type": "turn left",
|
| 634 |
+
"value": 30,
|
| 635 |
+
"yaw": -0.5235987755982894
|
| 636 |
+
}
|
| 637 |
+
}
|
| 638 |
+
{
|
| 639 |
+
"action": {
|
| 640 |
+
"imageid": 49,
|
| 641 |
+
"pos": [
|
| 642 |
+
1338.0084329055903,
|
| 643 |
+
1008.0550848511391,
|
| 644 |
+
36.8752718849498
|
| 645 |
+
],
|
| 646 |
+
"type": "go straight",
|
| 647 |
+
"value": 3,
|
| 648 |
+
"yaw": 9.43689570931383e-15
|
| 649 |
+
}
|
| 650 |
+
}
|
| 651 |
+
{
|
| 652 |
+
"action": {
|
| 653 |
+
"imageid": 50,
|
| 654 |
+
"pos": [
|
| 655 |
+
1341.0084329055903,
|
| 656 |
+
1008.0550848511391,
|
| 657 |
+
36.8752718849498
|
| 658 |
+
],
|
| 659 |
+
"type": "stop",
|
| 660 |
+
"value": 0,
|
| 661 |
+
"yaw": 9.43689570931383e-15
|
| 662 |
+
}
|
| 663 |
+
}
|
| 664 |
+
{
|
| 665 |
+
"aim_landmark": {
|
| 666 |
+
"color": "test",
|
| 667 |
+
"feature": "test",
|
| 668 |
+
"position": [
|
| 669 |
+
1356.0,
|
| 670 |
+
1000.0,
|
| 671 |
+
0.0
|
| 672 |
+
],
|
| 673 |
+
"shape": "test",
|
| 674 |
+
"dir": "right",
|
| 675 |
+
"size": "test",
|
| 676 |
+
"type": "building"
|
| 677 |
+
}
|
| 678 |
+
}
|
Image/env_airsim_sh/astar_data/low_average/2025-1-1_22-18-17_1927495994/pose.jsonl
ADDED
|
@@ -0,0 +1,262 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1146.1513984554067,
|
| 6 |
+
-261.04131688854864,
|
| 7 |
+
30.75922386545413
|
| 8 |
+
],
|
| 9 |
+
"type": "go straight",
|
| 10 |
+
"value": 3,
|
| 11 |
+
"yaw": -1.5707963267948966
|
| 12 |
+
}
|
| 13 |
+
}
|
| 14 |
+
{
|
| 15 |
+
"action": {
|
| 16 |
+
"imageid": 1,
|
| 17 |
+
"pos": [
|
| 18 |
+
1146.1513984554067,
|
| 19 |
+
-264.04131688854864,
|
| 20 |
+
30.75922386545413
|
| 21 |
+
],
|
| 22 |
+
"type": "go straight",
|
| 23 |
+
"value": 3,
|
| 24 |
+
"yaw": -1.5707963267948966
|
| 25 |
+
}
|
| 26 |
+
}
|
| 27 |
+
{
|
| 28 |
+
"action": {
|
| 29 |
+
"imageid": 2,
|
| 30 |
+
"pos": [
|
| 31 |
+
1146.1513984554067,
|
| 32 |
+
-267.04131688854864,
|
| 33 |
+
30.75922386545413
|
| 34 |
+
],
|
| 35 |
+
"type": "go straight",
|
| 36 |
+
"value": 3,
|
| 37 |
+
"yaw": -1.5707963267948966
|
| 38 |
+
}
|
| 39 |
+
}
|
| 40 |
+
{
|
| 41 |
+
"action": {
|
| 42 |
+
"imageid": 3,
|
| 43 |
+
"pos": [
|
| 44 |
+
1146.1513984554067,
|
| 45 |
+
-270.04131688854864,
|
| 46 |
+
30.75922386545413
|
| 47 |
+
],
|
| 48 |
+
"type": "go straight",
|
| 49 |
+
"value": 3,
|
| 50 |
+
"yaw": -1.5707963267948966
|
| 51 |
+
}
|
| 52 |
+
}
|
| 53 |
+
{
|
| 54 |
+
"action": {
|
| 55 |
+
"imageid": 4,
|
| 56 |
+
"pos": [
|
| 57 |
+
1146.1513984554067,
|
| 58 |
+
-273.04131688854864,
|
| 59 |
+
30.75922386545413
|
| 60 |
+
],
|
| 61 |
+
"type": "go straight",
|
| 62 |
+
"value": 3,
|
| 63 |
+
"yaw": -1.5707963267948966
|
| 64 |
+
}
|
| 65 |
+
}
|
| 66 |
+
{
|
| 67 |
+
"action": {
|
| 68 |
+
"imageid": 5,
|
| 69 |
+
"pos": [
|
| 70 |
+
1146.1513984554067,
|
| 71 |
+
-276.04131688854864,
|
| 72 |
+
30.75922386545413
|
| 73 |
+
],
|
| 74 |
+
"type": "go straight",
|
| 75 |
+
"value": 3,
|
| 76 |
+
"yaw": -1.5707963267948966
|
| 77 |
+
}
|
| 78 |
+
}
|
| 79 |
+
{
|
| 80 |
+
"action": {
|
| 81 |
+
"imageid": 6,
|
| 82 |
+
"pos": [
|
| 83 |
+
1146.1513984554067,
|
| 84 |
+
-279.04131688854864,
|
| 85 |
+
30.75922386545413
|
| 86 |
+
],
|
| 87 |
+
"type": "go straight",
|
| 88 |
+
"value": 3,
|
| 89 |
+
"yaw": -1.5707963267948966
|
| 90 |
+
}
|
| 91 |
+
}
|
| 92 |
+
{
|
| 93 |
+
"action": {
|
| 94 |
+
"imageid": 7,
|
| 95 |
+
"pos": [
|
| 96 |
+
1146.1513984554067,
|
| 97 |
+
-282.04131688854864,
|
| 98 |
+
30.75922386545413
|
| 99 |
+
],
|
| 100 |
+
"type": "go straight",
|
| 101 |
+
"value": 3,
|
| 102 |
+
"yaw": -1.5707963267948966
|
| 103 |
+
}
|
| 104 |
+
}
|
| 105 |
+
{
|
| 106 |
+
"action": {
|
| 107 |
+
"imageid": 8,
|
| 108 |
+
"pos": [
|
| 109 |
+
1146.1513984554067,
|
| 110 |
+
-285.04131688854864,
|
| 111 |
+
30.75922386545413
|
| 112 |
+
],
|
| 113 |
+
"type": "go straight",
|
| 114 |
+
"value": 3,
|
| 115 |
+
"yaw": -1.5707963267948966
|
| 116 |
+
}
|
| 117 |
+
}
|
| 118 |
+
{
|
| 119 |
+
"action": {
|
| 120 |
+
"imageid": 9,
|
| 121 |
+
"pos": [
|
| 122 |
+
1146.1513984554067,
|
| 123 |
+
-288.04131688854864,
|
| 124 |
+
30.75922386545413
|
| 125 |
+
],
|
| 126 |
+
"type": "go straight",
|
| 127 |
+
"value": 3,
|
| 128 |
+
"yaw": -1.5707963267948966
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
{
|
| 132 |
+
"action": {
|
| 133 |
+
"imageid": 10,
|
| 134 |
+
"pos": [
|
| 135 |
+
1146.1513984554067,
|
| 136 |
+
-291.04131688854864,
|
| 137 |
+
30.75922386545413
|
| 138 |
+
],
|
| 139 |
+
"type": "go straight",
|
| 140 |
+
"value": 3,
|
| 141 |
+
"yaw": -1.5707963267948966
|
| 142 |
+
}
|
| 143 |
+
}
|
| 144 |
+
{
|
| 145 |
+
"action": {
|
| 146 |
+
"imageid": 11,
|
| 147 |
+
"pos": [
|
| 148 |
+
1146.1513984554067,
|
| 149 |
+
-294.04131688854864,
|
| 150 |
+
30.75922386545413
|
| 151 |
+
],
|
| 152 |
+
"type": "go straight",
|
| 153 |
+
"value": 3,
|
| 154 |
+
"yaw": -1.5707963267948966
|
| 155 |
+
}
|
| 156 |
+
}
|
| 157 |
+
{
|
| 158 |
+
"action": {
|
| 159 |
+
"imageid": 12,
|
| 160 |
+
"pos": [
|
| 161 |
+
1146.1513984554067,
|
| 162 |
+
-297.04131688854864,
|
| 163 |
+
30.75922386545413
|
| 164 |
+
],
|
| 165 |
+
"type": "turn left",
|
| 166 |
+
"value": 30,
|
| 167 |
+
"yaw": -1.5707963267948966
|
| 168 |
+
}
|
| 169 |
+
}
|
| 170 |
+
{
|
| 171 |
+
"action": {
|
| 172 |
+
"imageid": 13,
|
| 173 |
+
"pos": [
|
| 174 |
+
1146.1513984554067,
|
| 175 |
+
-297.04131688854864,
|
| 176 |
+
30.75922386545413
|
| 177 |
+
],
|
| 178 |
+
"type": "go straight",
|
| 179 |
+
"value": 3,
|
| 180 |
+
"yaw": -1.0471975511965979
|
| 181 |
+
}
|
| 182 |
+
}
|
| 183 |
+
{
|
| 184 |
+
"action": {
|
| 185 |
+
"imageid": 14,
|
| 186 |
+
"pos": [
|
| 187 |
+
1147.6513984554067,
|
| 188 |
+
-299.63939309990195,
|
| 189 |
+
30.75922386545413
|
| 190 |
+
],
|
| 191 |
+
"type": "go straight",
|
| 192 |
+
"value": 3,
|
| 193 |
+
"yaw": -1.0471975511965979
|
| 194 |
+
}
|
| 195 |
+
}
|
| 196 |
+
{
|
| 197 |
+
"action": {
|
| 198 |
+
"imageid": 15,
|
| 199 |
+
"pos": [
|
| 200 |
+
1149.1513984554067,
|
| 201 |
+
-302.23746931125527,
|
| 202 |
+
30.75922386545413
|
| 203 |
+
],
|
| 204 |
+
"type": "go straight",
|
| 205 |
+
"value": 3,
|
| 206 |
+
"yaw": -1.0471975511965979
|
| 207 |
+
}
|
| 208 |
+
}
|
| 209 |
+
{
|
| 210 |
+
"action": {
|
| 211 |
+
"imageid": 16,
|
| 212 |
+
"pos": [
|
| 213 |
+
1150.6513984554067,
|
| 214 |
+
-304.8355455226086,
|
| 215 |
+
30.75922386545413
|
| 216 |
+
],
|
| 217 |
+
"type": "go straight",
|
| 218 |
+
"value": 3,
|
| 219 |
+
"yaw": -1.0471975511965979
|
| 220 |
+
}
|
| 221 |
+
}
|
| 222 |
+
{
|
| 223 |
+
"action": {
|
| 224 |
+
"imageid": 17,
|
| 225 |
+
"pos": [
|
| 226 |
+
1152.1513984554067,
|
| 227 |
+
-307.4336217339619,
|
| 228 |
+
30.75922386545413
|
| 229 |
+
],
|
| 230 |
+
"type": "go straight",
|
| 231 |
+
"value": 3,
|
| 232 |
+
"yaw": -1.0471975511965979
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
{
|
| 236 |
+
"action": {
|
| 237 |
+
"imageid": 18,
|
| 238 |
+
"pos": [
|
| 239 |
+
1153.6513984554067,
|
| 240 |
+
-310.0316979453152,
|
| 241 |
+
30.75922386545413
|
| 242 |
+
],
|
| 243 |
+
"type": "stop",
|
| 244 |
+
"value": 0,
|
| 245 |
+
"yaw": -1.0471975511965979
|
| 246 |
+
}
|
| 247 |
+
}
|
| 248 |
+
{
|
| 249 |
+
"aim_landmark": {
|
| 250 |
+
"color": "test",
|
| 251 |
+
"feature": "test",
|
| 252 |
+
"position": [
|
| 253 |
+
1164.0,
|
| 254 |
+
-392.0,
|
| 255 |
+
0.0
|
| 256 |
+
],
|
| 257 |
+
"shape": "test",
|
| 258 |
+
"dir": "center",
|
| 259 |
+
"size": "test",
|
| 260 |
+
"type": "building"
|
| 261 |
+
}
|
| 262 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_10-12-09_307143/pose.jsonl
ADDED
|
@@ -0,0 +1,660 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
1547.9471155748515,
|
| 6 |
+
-802.0662413260243,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
0.0
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": 0.0
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
1547.9471155748515,
|
| 20 |
+
-802.0662413260243,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
0.0
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": 0.0
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
1547.9471155748515,
|
| 34 |
+
-802.0662413260243,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
0.0
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": 0.0
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
1547.9471155748515,
|
| 48 |
+
-802.0662413260243,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
0.0
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": 0.0
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
1547.9471155748515,
|
| 62 |
+
-802.0662413260243,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": 0.0
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
1550.9471155748515,
|
| 75 |
+
-802.0662413260243,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": 0.0
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
1553.9471155748515,
|
| 88 |
+
-802.0662413260243,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": 0.0
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
1556.9471155748515,
|
| 101 |
+
-802.0662413260243,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go up",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": 0.0
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
1556.9471155748515,
|
| 114 |
+
-802.0662413260243,
|
| 115 |
+
38.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": 0.0
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
1559.9471155748515,
|
| 127 |
+
-802.0662413260243,
|
| 128 |
+
38.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go straight",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": 0.0
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
1562.9471155748515,
|
| 140 |
+
-802.0662413260243,
|
| 141 |
+
38.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": 0.0
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
1565.9471155748515,
|
| 153 |
+
-802.0662413260243,
|
| 154 |
+
38.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "turn left",
|
| 157 |
+
"value": 30,
|
| 158 |
+
"yaw": 0.0
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
1565.9471155748515,
|
| 166 |
+
-802.0662413260243,
|
| 167 |
+
38.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": 0.0
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
1568.545191786205,
|
| 179 |
+
-800.5662413260243,
|
| 180 |
+
38.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "turn right",
|
| 183 |
+
"value": 30,
|
| 184 |
+
"yaw": 0.0
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
1568.545191786205,
|
| 192 |
+
-800.5662413260243,
|
| 193 |
+
38.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": 0.0
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
1571.545191786205,
|
| 205 |
+
-800.5662413260243,
|
| 206 |
+
38.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "turn left",
|
| 209 |
+
"value": 30,
|
| 210 |
+
"yaw": 0.0
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
1571.545191786205,
|
| 218 |
+
-800.5662413260243,
|
| 219 |
+
38.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": 0.5235987755982988
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
1574.1432679975583,
|
| 231 |
+
-799.0662413260243,
|
| 232 |
+
38.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "turn right",
|
| 235 |
+
"value": 30,
|
| 236 |
+
"yaw": 0.5235987755982894
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
1574.1432679975583,
|
| 244 |
+
-799.0662413260243,
|
| 245 |
+
38.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": -9.43689570931383e-15
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
1577.1432679975583,
|
| 257 |
+
-799.0662413260243,
|
| 258 |
+
38.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "turn left",
|
| 261 |
+
"value": 30,
|
| 262 |
+
"yaw": 0.0
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
1577.1432679975583,
|
| 270 |
+
-799.0662413260243,
|
| 271 |
+
38.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": 0.5235987755982988
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
1579.7413442089116,
|
| 283 |
+
-797.5662413260243,
|
| 284 |
+
38.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go up",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": 0.5235987755982894
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
1579.7413442089116,
|
| 296 |
+
-797.5662413260243,
|
| 297 |
+
41.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "turn right",
|
| 300 |
+
"value": 30,
|
| 301 |
+
"yaw": -9.43689570931383e-15
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
1579.7413442089116,
|
| 309 |
+
-797.5662413260243,
|
| 310 |
+
41.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": 0.0
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
1582.7413442089116,
|
| 322 |
+
-797.5662413260243,
|
| 323 |
+
41.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": 0.5235987755982988
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
1585.7413442089116,
|
| 335 |
+
-797.5662413260243,
|
| 336 |
+
41.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": 0.5235987755982988
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
1588.7413442089116,
|
| 348 |
+
-797.5662413260243,
|
| 349 |
+
41.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "turn left",
|
| 352 |
+
"value": 30,
|
| 353 |
+
"yaw": 0.5235987755982988
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
1588.7413442089116,
|
| 361 |
+
-797.5662413260243,
|
| 362 |
+
41.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": 0.0
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
1591.339420420265,
|
| 374 |
+
-796.0662413260243,
|
| 375 |
+
41.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "turn right",
|
| 378 |
+
"value": 30,
|
| 379 |
+
"yaw": 0.0
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
1591.339420420265,
|
| 387 |
+
-796.0662413260243,
|
| 388 |
+
41.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "turn right",
|
| 391 |
+
"value": 30,
|
| 392 |
+
"yaw": 0.0
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
1591.339420420265,
|
| 400 |
+
-796.0662413260243,
|
| 401 |
+
41.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "turn right",
|
| 404 |
+
"value": 30,
|
| 405 |
+
"yaw": 0.0
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
1591.339420420265,
|
| 413 |
+
-796.0662413260243,
|
| 414 |
+
41.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "go straight",
|
| 417 |
+
"value": 3,
|
| 418 |
+
"yaw": 0.5235987755982988
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
1592.839420420265,
|
| 426 |
+
-798.6643175373777,
|
| 427 |
+
41.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go straight",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": 0.5235987755982894
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
1594.339420420265,
|
| 439 |
+
-801.262393748731,
|
| 440 |
+
41.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": -9.43689570931383e-15
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
1595.839420420265,
|
| 452 |
+
-803.8604699600844,
|
| 453 |
+
41.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "go straight",
|
| 456 |
+
"value": 3,
|
| 457 |
+
"yaw": -0.5235987755983083
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
1597.339420420265,
|
| 465 |
+
-806.4585461714378,
|
| 466 |
+
41.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "turn left",
|
| 469 |
+
"value": 30,
|
| 470 |
+
"yaw": -1.0471975511966072
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
1597.339420420265,
|
| 478 |
+
-806.4585461714378,
|
| 479 |
+
41.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "go straight",
|
| 482 |
+
"value": 3,
|
| 483 |
+
"yaw": -1.0471975511966072
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
1599.9374966316184,
|
| 491 |
+
-807.9585461714378,
|
| 492 |
+
41.30811446610947
|
| 493 |
+
],
|
| 494 |
+
"type": "go straight",
|
| 495 |
+
"value": 3,
|
| 496 |
+
"yaw": -1.0471975511966072
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
{
|
| 500 |
+
"action": {
|
| 501 |
+
"imageid": 38,
|
| 502 |
+
"pos": [
|
| 503 |
+
1602.5355728429718,
|
| 504 |
+
-809.4585461714378,
|
| 505 |
+
41.30811446610947
|
| 506 |
+
],
|
| 507 |
+
"type": "go straight",
|
| 508 |
+
"value": 3,
|
| 509 |
+
"yaw": -1.0471975511966072
|
| 510 |
+
}
|
| 511 |
+
}
|
| 512 |
+
{
|
| 513 |
+
"action": {
|
| 514 |
+
"imageid": 39,
|
| 515 |
+
"pos": [
|
| 516 |
+
1605.1336490543251,
|
| 517 |
+
-810.9585461714378,
|
| 518 |
+
41.30811446610947
|
| 519 |
+
],
|
| 520 |
+
"type": "go straight",
|
| 521 |
+
"value": 3,
|
| 522 |
+
"yaw": -1.0471975511966072
|
| 523 |
+
}
|
| 524 |
+
}
|
| 525 |
+
{
|
| 526 |
+
"action": {
|
| 527 |
+
"imageid": 40,
|
| 528 |
+
"pos": [
|
| 529 |
+
1607.7317252656785,
|
| 530 |
+
-812.4585461714378,
|
| 531 |
+
41.30811446610947
|
| 532 |
+
],
|
| 533 |
+
"type": "go down",
|
| 534 |
+
"value": 3,
|
| 535 |
+
"yaw": -0.5235987755983084
|
| 536 |
+
}
|
| 537 |
+
}
|
| 538 |
+
{
|
| 539 |
+
"action": {
|
| 540 |
+
"imageid": 41,
|
| 541 |
+
"pos": [
|
| 542 |
+
1607.7317252656785,
|
| 543 |
+
-812.4585461714378,
|
| 544 |
+
38.30811446610947
|
| 545 |
+
],
|
| 546 |
+
"type": "go down",
|
| 547 |
+
"value": 3,
|
| 548 |
+
"yaw": -0.5235987755982894
|
| 549 |
+
}
|
| 550 |
+
}
|
| 551 |
+
{
|
| 552 |
+
"action": {
|
| 553 |
+
"imageid": 42,
|
| 554 |
+
"pos": [
|
| 555 |
+
1607.7317252656785,
|
| 556 |
+
-812.4585461714378,
|
| 557 |
+
35.30811446610947
|
| 558 |
+
],
|
| 559 |
+
"type": "turn left",
|
| 560 |
+
"value": 30,
|
| 561 |
+
"yaw": -0.5235987755982894
|
| 562 |
+
}
|
| 563 |
+
}
|
| 564 |
+
{
|
| 565 |
+
"action": {
|
| 566 |
+
"imageid": 43,
|
| 567 |
+
"pos": [
|
| 568 |
+
1607.7317252656785,
|
| 569 |
+
-812.4585461714378,
|
| 570 |
+
35.30811446610947
|
| 571 |
+
],
|
| 572 |
+
"type": "go straight",
|
| 573 |
+
"value": 3,
|
| 574 |
+
"yaw": -0.5235987755982894
|
| 575 |
+
}
|
| 576 |
+
}
|
| 577 |
+
{
|
| 578 |
+
"action": {
|
| 579 |
+
"imageid": 44,
|
| 580 |
+
"pos": [
|
| 581 |
+
1610.7317252656785,
|
| 582 |
+
-812.4585461714378,
|
| 583 |
+
35.30811446610947
|
| 584 |
+
],
|
| 585 |
+
"type": "stop",
|
| 586 |
+
"value": 0,
|
| 587 |
+
"yaw": -0.5235987755982894
|
| 588 |
+
}
|
| 589 |
+
}
|
| 590 |
+
{
|
| 591 |
+
"action": {
|
| 592 |
+
"imageid": 45,
|
| 593 |
+
"pos": [
|
| 594 |
+
1610.7317252656785,
|
| 595 |
+
-812.4585461714378,
|
| 596 |
+
32.30811446610947,
|
| 597 |
+
0.0
|
| 598 |
+
],
|
| 599 |
+
"type": "down",
|
| 600 |
+
"value": 3,
|
| 601 |
+
"yaw": 0.0
|
| 602 |
+
}
|
| 603 |
+
}
|
| 604 |
+
{
|
| 605 |
+
"action": {
|
| 606 |
+
"imageid": 46,
|
| 607 |
+
"pos": [
|
| 608 |
+
1610.7317252656785,
|
| 609 |
+
-812.4585461714378,
|
| 610 |
+
29.308114466109473,
|
| 611 |
+
0.0
|
| 612 |
+
],
|
| 613 |
+
"type": "down",
|
| 614 |
+
"value": 3,
|
| 615 |
+
"yaw": 0.0
|
| 616 |
+
}
|
| 617 |
+
}
|
| 618 |
+
{
|
| 619 |
+
"action": {
|
| 620 |
+
"imageid": 47,
|
| 621 |
+
"pos": [
|
| 622 |
+
1610.7317252656785,
|
| 623 |
+
-812.4585461714378,
|
| 624 |
+
26.308114466109473,
|
| 625 |
+
0.0
|
| 626 |
+
],
|
| 627 |
+
"type": "down",
|
| 628 |
+
"value": 3,
|
| 629 |
+
"yaw": 0.0
|
| 630 |
+
}
|
| 631 |
+
}
|
| 632 |
+
{
|
| 633 |
+
"action": {
|
| 634 |
+
"imageid": 48,
|
| 635 |
+
"pos": [
|
| 636 |
+
1610.7317252656785,
|
| 637 |
+
-812.4585461714378,
|
| 638 |
+
23.308114466109473,
|
| 639 |
+
0.0
|
| 640 |
+
],
|
| 641 |
+
"type": "down",
|
| 642 |
+
"value": 3,
|
| 643 |
+
"yaw": 0.0
|
| 644 |
+
}
|
| 645 |
+
}
|
| 646 |
+
{
|
| 647 |
+
"aim_landmark": {
|
| 648 |
+
"color": "test",
|
| 649 |
+
"feature": "test",
|
| 650 |
+
"position": [
|
| 651 |
+
1628.0,
|
| 652 |
+
-816.0,
|
| 653 |
+
40.1465
|
| 654 |
+
],
|
| 655 |
+
"shape": "test",
|
| 656 |
+
"dir": "center",
|
| 657 |
+
"size": "test",
|
| 658 |
+
"type": "building"
|
| 659 |
+
}
|
| 660 |
+
}
|
Image/env_airsim_sh/astar_data/low_short_updown/2025-01-19_11-52-55_414807/pose.jsonl
ADDED
|
@@ -0,0 +1,622 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"action": {
|
| 3 |
+
"imageid": 0,
|
| 4 |
+
"pos": [
|
| 5 |
+
-1758.4318768543735,
|
| 6 |
+
1094.66195520527,
|
| 7 |
+
23.308114466109473,
|
| 8 |
+
-1.5707963267948966
|
| 9 |
+
],
|
| 10 |
+
"type": "up",
|
| 11 |
+
"value": 3,
|
| 12 |
+
"yaw": -1.5707963267948966
|
| 13 |
+
}
|
| 14 |
+
}
|
| 15 |
+
{
|
| 16 |
+
"action": {
|
| 17 |
+
"imageid": 1,
|
| 18 |
+
"pos": [
|
| 19 |
+
-1758.4318768543735,
|
| 20 |
+
1094.66195520527,
|
| 21 |
+
26.308114466109473,
|
| 22 |
+
-1.5707963267948966
|
| 23 |
+
],
|
| 24 |
+
"type": "up",
|
| 25 |
+
"value": 3,
|
| 26 |
+
"yaw": -1.5707963267948966
|
| 27 |
+
}
|
| 28 |
+
}
|
| 29 |
+
{
|
| 30 |
+
"action": {
|
| 31 |
+
"imageid": 2,
|
| 32 |
+
"pos": [
|
| 33 |
+
-1758.4318768543735,
|
| 34 |
+
1094.66195520527,
|
| 35 |
+
29.308114466109473,
|
| 36 |
+
-1.5707963267948966
|
| 37 |
+
],
|
| 38 |
+
"type": "up",
|
| 39 |
+
"value": 3,
|
| 40 |
+
"yaw": -1.5707963267948966
|
| 41 |
+
}
|
| 42 |
+
}
|
| 43 |
+
{
|
| 44 |
+
"action": {
|
| 45 |
+
"imageid": 3,
|
| 46 |
+
"pos": [
|
| 47 |
+
-1758.4318768543735,
|
| 48 |
+
1094.66195520527,
|
| 49 |
+
32.30811446610947,
|
| 50 |
+
-1.5707963267948966
|
| 51 |
+
],
|
| 52 |
+
"type": "up",
|
| 53 |
+
"value": 3,
|
| 54 |
+
"yaw": -1.5707963267948966
|
| 55 |
+
}
|
| 56 |
+
}
|
| 57 |
+
{
|
| 58 |
+
"action": {
|
| 59 |
+
"imageid": 4,
|
| 60 |
+
"pos": [
|
| 61 |
+
-1758.4318768543735,
|
| 62 |
+
1094.66195520527,
|
| 63 |
+
35.30811446610947
|
| 64 |
+
],
|
| 65 |
+
"type": "go straight",
|
| 66 |
+
"value": 3,
|
| 67 |
+
"yaw": -1.5707963267948966
|
| 68 |
+
}
|
| 69 |
+
}
|
| 70 |
+
{
|
| 71 |
+
"action": {
|
| 72 |
+
"imageid": 5,
|
| 73 |
+
"pos": [
|
| 74 |
+
-1758.4318768543735,
|
| 75 |
+
1091.66195520527,
|
| 76 |
+
35.30811446610947
|
| 77 |
+
],
|
| 78 |
+
"type": "go straight",
|
| 79 |
+
"value": 3,
|
| 80 |
+
"yaw": -1.5707963267948966
|
| 81 |
+
}
|
| 82 |
+
}
|
| 83 |
+
{
|
| 84 |
+
"action": {
|
| 85 |
+
"imageid": 6,
|
| 86 |
+
"pos": [
|
| 87 |
+
-1758.4318768543735,
|
| 88 |
+
1088.66195520527,
|
| 89 |
+
35.30811446610947
|
| 90 |
+
],
|
| 91 |
+
"type": "go straight",
|
| 92 |
+
"value": 3,
|
| 93 |
+
"yaw": -1.5707963267948966
|
| 94 |
+
}
|
| 95 |
+
}
|
| 96 |
+
{
|
| 97 |
+
"action": {
|
| 98 |
+
"imageid": 7,
|
| 99 |
+
"pos": [
|
| 100 |
+
-1758.4318768543735,
|
| 101 |
+
1085.66195520527,
|
| 102 |
+
35.30811446610947
|
| 103 |
+
],
|
| 104 |
+
"type": "go up",
|
| 105 |
+
"value": 3,
|
| 106 |
+
"yaw": -1.5707963267948966
|
| 107 |
+
}
|
| 108 |
+
}
|
| 109 |
+
{
|
| 110 |
+
"action": {
|
| 111 |
+
"imageid": 8,
|
| 112 |
+
"pos": [
|
| 113 |
+
-1758.4318768543735,
|
| 114 |
+
1085.66195520527,
|
| 115 |
+
38.30811446610947
|
| 116 |
+
],
|
| 117 |
+
"type": "go straight",
|
| 118 |
+
"value": 3,
|
| 119 |
+
"yaw": -1.5707963267948966
|
| 120 |
+
}
|
| 121 |
+
}
|
| 122 |
+
{
|
| 123 |
+
"action": {
|
| 124 |
+
"imageid": 9,
|
| 125 |
+
"pos": [
|
| 126 |
+
-1758.4318768543735,
|
| 127 |
+
1082.66195520527,
|
| 128 |
+
38.30811446610947
|
| 129 |
+
],
|
| 130 |
+
"type": "go straight",
|
| 131 |
+
"value": 3,
|
| 132 |
+
"yaw": -1.5707963267948966
|
| 133 |
+
}
|
| 134 |
+
}
|
| 135 |
+
{
|
| 136 |
+
"action": {
|
| 137 |
+
"imageid": 10,
|
| 138 |
+
"pos": [
|
| 139 |
+
-1758.4318768543735,
|
| 140 |
+
1079.66195520527,
|
| 141 |
+
38.30811446610947
|
| 142 |
+
],
|
| 143 |
+
"type": "go straight",
|
| 144 |
+
"value": 3,
|
| 145 |
+
"yaw": -1.5707963267948966
|
| 146 |
+
}
|
| 147 |
+
}
|
| 148 |
+
{
|
| 149 |
+
"action": {
|
| 150 |
+
"imageid": 11,
|
| 151 |
+
"pos": [
|
| 152 |
+
-1758.4318768543735,
|
| 153 |
+
1076.66195520527,
|
| 154 |
+
38.30811446610947
|
| 155 |
+
],
|
| 156 |
+
"type": "go straight",
|
| 157 |
+
"value": 3,
|
| 158 |
+
"yaw": -1.5707963267948966
|
| 159 |
+
}
|
| 160 |
+
}
|
| 161 |
+
{
|
| 162 |
+
"action": {
|
| 163 |
+
"imageid": 12,
|
| 164 |
+
"pos": [
|
| 165 |
+
-1758.4318768543735,
|
| 166 |
+
1073.66195520527,
|
| 167 |
+
38.30811446610947
|
| 168 |
+
],
|
| 169 |
+
"type": "go straight",
|
| 170 |
+
"value": 3,
|
| 171 |
+
"yaw": -1.5707963267948966
|
| 172 |
+
}
|
| 173 |
+
}
|
| 174 |
+
{
|
| 175 |
+
"action": {
|
| 176 |
+
"imageid": 13,
|
| 177 |
+
"pos": [
|
| 178 |
+
-1758.4318768543735,
|
| 179 |
+
1070.66195520527,
|
| 180 |
+
38.30811446610947
|
| 181 |
+
],
|
| 182 |
+
"type": "go straight",
|
| 183 |
+
"value": 3,
|
| 184 |
+
"yaw": -1.5707963267948966
|
| 185 |
+
}
|
| 186 |
+
}
|
| 187 |
+
{
|
| 188 |
+
"action": {
|
| 189 |
+
"imageid": 14,
|
| 190 |
+
"pos": [
|
| 191 |
+
-1758.4318768543735,
|
| 192 |
+
1067.66195520527,
|
| 193 |
+
38.30811446610947
|
| 194 |
+
],
|
| 195 |
+
"type": "go straight",
|
| 196 |
+
"value": 3,
|
| 197 |
+
"yaw": -1.5707963267948966
|
| 198 |
+
}
|
| 199 |
+
}
|
| 200 |
+
{
|
| 201 |
+
"action": {
|
| 202 |
+
"imageid": 15,
|
| 203 |
+
"pos": [
|
| 204 |
+
-1758.4318768543735,
|
| 205 |
+
1064.66195520527,
|
| 206 |
+
38.30811446610947
|
| 207 |
+
],
|
| 208 |
+
"type": "go straight",
|
| 209 |
+
"value": 3,
|
| 210 |
+
"yaw": -1.5707963267948966
|
| 211 |
+
}
|
| 212 |
+
}
|
| 213 |
+
{
|
| 214 |
+
"action": {
|
| 215 |
+
"imageid": 16,
|
| 216 |
+
"pos": [
|
| 217 |
+
-1758.4318768543735,
|
| 218 |
+
1061.66195520527,
|
| 219 |
+
38.30811446610947
|
| 220 |
+
],
|
| 221 |
+
"type": "go straight",
|
| 222 |
+
"value": 3,
|
| 223 |
+
"yaw": -1.5707963267948966
|
| 224 |
+
}
|
| 225 |
+
}
|
| 226 |
+
{
|
| 227 |
+
"action": {
|
| 228 |
+
"imageid": 17,
|
| 229 |
+
"pos": [
|
| 230 |
+
-1758.4318768543735,
|
| 231 |
+
1058.66195520527,
|
| 232 |
+
38.30811446610947
|
| 233 |
+
],
|
| 234 |
+
"type": "go straight",
|
| 235 |
+
"value": 3,
|
| 236 |
+
"yaw": -1.5707963267948966
|
| 237 |
+
}
|
| 238 |
+
}
|
| 239 |
+
{
|
| 240 |
+
"action": {
|
| 241 |
+
"imageid": 18,
|
| 242 |
+
"pos": [
|
| 243 |
+
-1758.4318768543735,
|
| 244 |
+
1055.66195520527,
|
| 245 |
+
38.30811446610947
|
| 246 |
+
],
|
| 247 |
+
"type": "go straight",
|
| 248 |
+
"value": 3,
|
| 249 |
+
"yaw": -1.5707963267948966
|
| 250 |
+
}
|
| 251 |
+
}
|
| 252 |
+
{
|
| 253 |
+
"action": {
|
| 254 |
+
"imageid": 19,
|
| 255 |
+
"pos": [
|
| 256 |
+
-1758.4318768543735,
|
| 257 |
+
1052.66195520527,
|
| 258 |
+
38.30811446610947
|
| 259 |
+
],
|
| 260 |
+
"type": "go straight",
|
| 261 |
+
"value": 3,
|
| 262 |
+
"yaw": -1.5707963267948966
|
| 263 |
+
}
|
| 264 |
+
}
|
| 265 |
+
{
|
| 266 |
+
"action": {
|
| 267 |
+
"imageid": 20,
|
| 268 |
+
"pos": [
|
| 269 |
+
-1758.4318768543735,
|
| 270 |
+
1049.66195520527,
|
| 271 |
+
38.30811446610947
|
| 272 |
+
],
|
| 273 |
+
"type": "go straight",
|
| 274 |
+
"value": 3,
|
| 275 |
+
"yaw": -1.5707963267948966
|
| 276 |
+
}
|
| 277 |
+
}
|
| 278 |
+
{
|
| 279 |
+
"action": {
|
| 280 |
+
"imageid": 21,
|
| 281 |
+
"pos": [
|
| 282 |
+
-1758.4318768543735,
|
| 283 |
+
1046.66195520527,
|
| 284 |
+
38.30811446610947
|
| 285 |
+
],
|
| 286 |
+
"type": "go straight",
|
| 287 |
+
"value": 3,
|
| 288 |
+
"yaw": -1.5707963267948966
|
| 289 |
+
}
|
| 290 |
+
}
|
| 291 |
+
{
|
| 292 |
+
"action": {
|
| 293 |
+
"imageid": 22,
|
| 294 |
+
"pos": [
|
| 295 |
+
-1758.4318768543735,
|
| 296 |
+
1043.66195520527,
|
| 297 |
+
38.30811446610947
|
| 298 |
+
],
|
| 299 |
+
"type": "turn left",
|
| 300 |
+
"value": 30,
|
| 301 |
+
"yaw": -1.5707963267948966
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
{
|
| 305 |
+
"action": {
|
| 306 |
+
"imageid": 23,
|
| 307 |
+
"pos": [
|
| 308 |
+
-1758.4318768543735,
|
| 309 |
+
1043.66195520527,
|
| 310 |
+
38.30811446610947
|
| 311 |
+
],
|
| 312 |
+
"type": "go straight",
|
| 313 |
+
"value": 3,
|
| 314 |
+
"yaw": -1.5707963267948966
|
| 315 |
+
}
|
| 316 |
+
}
|
| 317 |
+
{
|
| 318 |
+
"action": {
|
| 319 |
+
"imageid": 24,
|
| 320 |
+
"pos": [
|
| 321 |
+
-1756.9318768543735,
|
| 322 |
+
1041.0638789939167,
|
| 323 |
+
38.30811446610947
|
| 324 |
+
],
|
| 325 |
+
"type": "go straight",
|
| 326 |
+
"value": 3,
|
| 327 |
+
"yaw": -1.5707963267948966
|
| 328 |
+
}
|
| 329 |
+
}
|
| 330 |
+
{
|
| 331 |
+
"action": {
|
| 332 |
+
"imageid": 25,
|
| 333 |
+
"pos": [
|
| 334 |
+
-1755.4318768543735,
|
| 335 |
+
1038.4658027825633,
|
| 336 |
+
38.30811446610947
|
| 337 |
+
],
|
| 338 |
+
"type": "go straight",
|
| 339 |
+
"value": 3,
|
| 340 |
+
"yaw": -1.5707963267948966
|
| 341 |
+
}
|
| 342 |
+
}
|
| 343 |
+
{
|
| 344 |
+
"action": {
|
| 345 |
+
"imageid": 26,
|
| 346 |
+
"pos": [
|
| 347 |
+
-1753.9318768543735,
|
| 348 |
+
1035.86772657121,
|
| 349 |
+
38.30811446610947
|
| 350 |
+
],
|
| 351 |
+
"type": "go straight",
|
| 352 |
+
"value": 3,
|
| 353 |
+
"yaw": -1.5707963267948966
|
| 354 |
+
}
|
| 355 |
+
}
|
| 356 |
+
{
|
| 357 |
+
"action": {
|
| 358 |
+
"imageid": 27,
|
| 359 |
+
"pos": [
|
| 360 |
+
-1752.4318768543735,
|
| 361 |
+
1033.2696503598565,
|
| 362 |
+
38.30811446610947
|
| 363 |
+
],
|
| 364 |
+
"type": "go straight",
|
| 365 |
+
"value": 3,
|
| 366 |
+
"yaw": -1.0471975511965979
|
| 367 |
+
}
|
| 368 |
+
}
|
| 369 |
+
{
|
| 370 |
+
"action": {
|
| 371 |
+
"imageid": 28,
|
| 372 |
+
"pos": [
|
| 373 |
+
-1750.9318768543735,
|
| 374 |
+
1030.6715741485032,
|
| 375 |
+
38.30811446610947
|
| 376 |
+
],
|
| 377 |
+
"type": "go straight",
|
| 378 |
+
"value": 3,
|
| 379 |
+
"yaw": -1.0471975511966072
|
| 380 |
+
}
|
| 381 |
+
}
|
| 382 |
+
{
|
| 383 |
+
"action": {
|
| 384 |
+
"imageid": 29,
|
| 385 |
+
"pos": [
|
| 386 |
+
-1749.4318768543735,
|
| 387 |
+
1028.0734979371498,
|
| 388 |
+
38.30811446610947
|
| 389 |
+
],
|
| 390 |
+
"type": "go straight",
|
| 391 |
+
"value": 3,
|
| 392 |
+
"yaw": -1.0471975511966072
|
| 393 |
+
}
|
| 394 |
+
}
|
| 395 |
+
{
|
| 396 |
+
"action": {
|
| 397 |
+
"imageid": 30,
|
| 398 |
+
"pos": [
|
| 399 |
+
-1747.9318768543735,
|
| 400 |
+
1025.4754217257964,
|
| 401 |
+
38.30811446610947
|
| 402 |
+
],
|
| 403 |
+
"type": "go straight",
|
| 404 |
+
"value": 3,
|
| 405 |
+
"yaw": -1.0471975511966072
|
| 406 |
+
}
|
| 407 |
+
}
|
| 408 |
+
{
|
| 409 |
+
"action": {
|
| 410 |
+
"imageid": 31,
|
| 411 |
+
"pos": [
|
| 412 |
+
-1746.4318768543735,
|
| 413 |
+
1022.877345514443,
|
| 414 |
+
38.30811446610947
|
| 415 |
+
],
|
| 416 |
+
"type": "go straight",
|
| 417 |
+
"value": 3,
|
| 418 |
+
"yaw": -1.0471975511966072
|
| 419 |
+
}
|
| 420 |
+
}
|
| 421 |
+
{
|
| 422 |
+
"action": {
|
| 423 |
+
"imageid": 32,
|
| 424 |
+
"pos": [
|
| 425 |
+
-1744.9318768543735,
|
| 426 |
+
1020.2792693030897,
|
| 427 |
+
38.30811446610947
|
| 428 |
+
],
|
| 429 |
+
"type": "go straight",
|
| 430 |
+
"value": 3,
|
| 431 |
+
"yaw": -1.0471975511966072
|
| 432 |
+
}
|
| 433 |
+
}
|
| 434 |
+
{
|
| 435 |
+
"action": {
|
| 436 |
+
"imageid": 33,
|
| 437 |
+
"pos": [
|
| 438 |
+
-1743.4318768543735,
|
| 439 |
+
1017.6811930917363,
|
| 440 |
+
38.30811446610947
|
| 441 |
+
],
|
| 442 |
+
"type": "go straight",
|
| 443 |
+
"value": 3,
|
| 444 |
+
"yaw": -1.0471975511966072
|
| 445 |
+
}
|
| 446 |
+
}
|
| 447 |
+
{
|
| 448 |
+
"action": {
|
| 449 |
+
"imageid": 34,
|
| 450 |
+
"pos": [
|
| 451 |
+
-1741.9318768543735,
|
| 452 |
+
1015.0831168803829,
|
| 453 |
+
38.30811446610947
|
| 454 |
+
],
|
| 455 |
+
"type": "go straight",
|
| 456 |
+
"value": 3,
|
| 457 |
+
"yaw": -1.0471975511966072
|
| 458 |
+
}
|
| 459 |
+
}
|
| 460 |
+
{
|
| 461 |
+
"action": {
|
| 462 |
+
"imageid": 35,
|
| 463 |
+
"pos": [
|
| 464 |
+
-1740.4318768543735,
|
| 465 |
+
1012.4850406690296,
|
| 466 |
+
38.30811446610947
|
| 467 |
+
],
|
| 468 |
+
"type": "go straight",
|
| 469 |
+
"value": 3,
|
| 470 |
+
"yaw": -1.0471975511966072
|
| 471 |
+
}
|
| 472 |
+
}
|
| 473 |
+
{
|
| 474 |
+
"action": {
|
| 475 |
+
"imageid": 36,
|
| 476 |
+
"pos": [
|
| 477 |
+
-1738.9318768543735,
|
| 478 |
+
1009.8869644576762,
|
| 479 |
+
38.30811446610947
|
| 480 |
+
],
|
| 481 |
+
"type": "go straight",
|
| 482 |
+
"value": 3,
|
| 483 |
+
"yaw": -1.0471975511966072
|
| 484 |
+
}
|
| 485 |
+
}
|
| 486 |
+
{
|
| 487 |
+
"action": {
|
| 488 |
+
"imageid": 37,
|
| 489 |
+
"pos": [
|
| 490 |
+
-1737.4318768543735,
|
| 491 |
+
1007.2888882463228,
|
| 492 |
+
38.30811446610947
|
| 493 |
+
],
|
| 494 |
+
"type": "go straight",
|
| 495 |
+
"value": 3,
|
| 496 |
+
"yaw": -1.0471975511966072
|
| 497 |
+
}
|
| 498 |
+
}
|
| 499 |
+
{
|
| 500 |
+
"action": {
|
| 501 |
+
"imageid": 38,
|
| 502 |
+
"pos": [
|
| 503 |
+
-1735.9318768543735,
|
| 504 |
+
1004.6908120349694,
|
| 505 |
+
38.30811446610947
|
| 506 |
+
],
|
| 507 |
+
"type": "turn right",
|
| 508 |
+
"value": 30,
|
| 509 |
+
"yaw": -1.0471975511966072
|
| 510 |
+
}
|
| 511 |
+
}
|
| 512 |
+
{
|
| 513 |
+
"action": {
|
| 514 |
+
"imageid": 39,
|
| 515 |
+
"pos": [
|
| 516 |
+
-1735.9318768543735,
|
| 517 |
+
1004.6908120349694,
|
| 518 |
+
38.30811446610947
|
| 519 |
+
],
|
| 520 |
+
"type": "go straight",
|
| 521 |
+
"value": 3,
|
| 522 |
+
"yaw": -1.0471975511966072
|
| 523 |
+
}
|
| 524 |
+
}
|
| 525 |
+
{
|
| 526 |
+
"action": {
|
| 527 |
+
"imageid": 40,
|
| 528 |
+
"pos": [
|
| 529 |
+
-1735.9318768543735,
|
| 530 |
+
1001.6908120349694,
|
| 531 |
+
38.30811446610947
|
| 532 |
+
],
|
| 533 |
+
"type": "stop",
|
| 534 |
+
"value": 0,
|
| 535 |
+
"yaw": -1.0471975511966072
|
| 536 |
+
}
|
| 537 |
+
}
|
| 538 |
+
{
|
| 539 |
+
"action": {
|
| 540 |
+
"imageid": 41,
|
| 541 |
+
"pos": [
|
| 542 |
+
-1735.9318768543735,
|
| 543 |
+
1001.6908120349694,
|
| 544 |
+
35.30811446610947,
|
| 545 |
+
-1.5707963267949059
|
| 546 |
+
],
|
| 547 |
+
"type": "down",
|
| 548 |
+
"value": 3,
|
| 549 |
+
"yaw": -1.5707963267949059
|
| 550 |
+
}
|
| 551 |
+
}
|
| 552 |
+
{
|
| 553 |
+
"action": {
|
| 554 |
+
"imageid": 42,
|
| 555 |
+
"pos": [
|
| 556 |
+
-1735.9318768543735,
|
| 557 |
+
1001.6908120349694,
|
| 558 |
+
32.30811446610947,
|
| 559 |
+
-1.5707963267949059
|
| 560 |
+
],
|
| 561 |
+
"type": "down",
|
| 562 |
+
"value": 3,
|
| 563 |
+
"yaw": -1.5707963267949059
|
| 564 |
+
}
|
| 565 |
+
}
|
| 566 |
+
{
|
| 567 |
+
"action": {
|
| 568 |
+
"imageid": 43,
|
| 569 |
+
"pos": [
|
| 570 |
+
-1735.9318768543735,
|
| 571 |
+
1001.6908120349694,
|
| 572 |
+
29.308114466109473,
|
| 573 |
+
-1.5707963267949059
|
| 574 |
+
],
|
| 575 |
+
"type": "down",
|
| 576 |
+
"value": 3,
|
| 577 |
+
"yaw": -1.5707963267949059
|
| 578 |
+
}
|
| 579 |
+
}
|
| 580 |
+
{
|
| 581 |
+
"action": {
|
| 582 |
+
"imageid": 44,
|
| 583 |
+
"pos": [
|
| 584 |
+
-1735.9318768543735,
|
| 585 |
+
1001.6908120349694,
|
| 586 |
+
26.308114466109473,
|
| 587 |
+
-1.5707963267949059
|
| 588 |
+
],
|
| 589 |
+
"type": "down",
|
| 590 |
+
"value": 3,
|
| 591 |
+
"yaw": -1.5707963267949059
|
| 592 |
+
}
|
| 593 |
+
}
|
| 594 |
+
{
|
| 595 |
+
"action": {
|
| 596 |
+
"imageid": 45,
|
| 597 |
+
"pos": [
|
| 598 |
+
-1735.9318768543735,
|
| 599 |
+
1001.6908120349694,
|
| 600 |
+
23.308114466109473,
|
| 601 |
+
-1.5707963267949059
|
| 602 |
+
],
|
| 603 |
+
"type": "down",
|
| 604 |
+
"value": 3,
|
| 605 |
+
"yaw": -1.5707963267949059
|
| 606 |
+
}
|
| 607 |
+
}
|
| 608 |
+
{
|
| 609 |
+
"aim_landmark": {
|
| 610 |
+
"color": "test",
|
| 611 |
+
"feature": "test",
|
| 612 |
+
"position": [
|
| 613 |
+
-1736.0,
|
| 614 |
+
1000.0,
|
| 615 |
+
30.9967
|
| 616 |
+
],
|
| 617 |
+
"shape": "test",
|
| 618 |
+
"dir": "center",
|
| 619 |
+
"size": "test",
|
| 620 |
+
"type": "building"
|
| 621 |
+
}
|
| 622 |
+
}
|