diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-37-56_149348/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-37-56_149348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0230cc3152d129262b6fd8e1395510ed7a843d76 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-37-56_149348/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1324.914057265774, + -124.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1324.914057265774, + -121.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1324.914057265774, + -118.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1324.914057265774, + -115.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1324.914057265774, + -112.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1324.914057265774, + -109.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1324.914057265774, + -106.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1324.914057265774, + -103.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1324.914057265774, + -100.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1324.914057265774, + -97.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1324.914057265774, + -94.14541256005973, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1324.914057265774, + -94.14541256005973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1326.414057265774, + -91.54733634870641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1327.914057265774, + -88.9492601373531, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1327.914057265774, + -88.9492601373531, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1327.914057265774, + -88.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1327.914057265774, + -85.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1327.914057265774, + -82.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1327.914057265774, + -79.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1327.914057265774, + -76.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1327.914057265774, + -73.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1327.914057265774, + -70.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1327.914057265774, + -67.9492601373531, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1327.914057265774, + -67.9492601373531, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1326.414057265774, + -65.35118392599978, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1324.914057265774, + -62.75310771464646, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1323.414057265774, + -60.155031503293145, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1321.914057265774, + -57.55695529193983, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1320.414057265774, + -54.95887908058651, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1318.914057265774, + -52.3608028692332, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1317.414057265774, + -49.76272665787988, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1315.914057265774, + -47.164650446526565, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1314.414057265774, + -44.56657423517325, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1312.914057265774, + -41.96849802381993, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1311.414057265774, + -39.37042181246662, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1309.914057265774, + -36.7723456011133, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1308.414057265774, + -34.174269389759985, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1306.914057265774, + -31.57619317840667, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1305.414057265774, + -28.978116967053353, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1305.414057265774, + -28.978116967053353, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.0, + 28.0, + 0.65896 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-38-30_910102/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-38-30_910102/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a32bc9b463e8786539d875b13b0e6b5e06a5ff67 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-38-30_910102/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1466.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1469.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1472.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1475.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1478.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1481.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1481.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1481.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1481.7220856070069, + -12.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1481.7220856070069, + -15.638899046421685, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1481.7220856070069, + -15.638899046421685, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1481.7220856070069, + -15.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1484.3201618183602, + -17.138899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1486.9182380297136, + -18.638899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1489.516314241067, + -20.138899046421685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1492.1143904524204, + -21.638899046421685, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1492.1143904524204, + -21.638899046421685, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1494.7124666637737, + -23.138899046421685, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1497.310542875127, + -24.638899046421685, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1499.9086190864805, + -26.138899046421685, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1502.5066952978339, + -27.638899046421685, + 7.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1502.5066952978339, + -27.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1505.1047715091872, + -29.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1507.7028477205406, + -30.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1510.300923931894, + -32.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1512.8990001432473, + -33.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1515.4970763546007, + -35.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1518.095152565954, + -36.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1520.6932287773075, + -38.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1523.2913049886608, + -39.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1525.8893812000142, + -41.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1528.4874574113676, + -42.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1531.085533622721, + -44.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1533.6836098340743, + -45.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1536.2816860454277, + -47.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1538.879762256781, + -48.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1541.4778384681345, + -50.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1544.0759146794878, + -51.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1546.6739908908412, + -53.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1549.2720671021946, + -54.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1551.870143313548, + -56.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1554.4682195249013, + -57.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1557.0662957362547, + -59.138899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1559.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1559.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1562.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1565.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1568.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1571.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1574.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1577.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1580.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1583.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1586.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1589.664371947608, + -60.638899046421685, + 10.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1589.664371947608, + -60.638899046421685, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1592.664371947608, + -60.638899046421685, + 7.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-42-07_538694/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-42-07_538694/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e097268de5ee0fbd03b10b00d116ab4bf689faa --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-42-07_538694/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1856.2313511048865, + 699.2099847767328, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1856.2313511048865, + 696.2099847767328, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1856.2313511048865, + 693.2099847767328, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1856.2313511048865, + 690.2099847767328, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1856.2313511048865, + 687.2099847767328, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1856.2313511048865, + 684.2099847767328, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1856.2313511048865, + 684.2099847767328, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1856.2313511048865, + 681.2099847767328, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1856.2313511048865, + 681.2099847767328, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1854.7313511048865, + 678.6119085653795, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1854.7313511048865, + 678.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949063 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1854.7313511048865, + 675.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1854.7313511048865, + 672.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1854.7313511048865, + 669.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1854.7313511048865, + 666.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1854.7313511048865, + 663.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1854.7313511048865, + 660.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1854.7313511048865, + 657.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1854.7313511048865, + 654.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1854.7313511048865, + 651.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1854.7313511048865, + 648.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1854.7313511048865, + 645.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1854.7313511048865, + 642.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1854.7313511048865, + 639.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1854.7313511048865, + 636.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1854.7313511048865, + 633.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1854.7313511048865, + 630.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1854.7313511048865, + 627.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1854.7313511048865, + 624.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1854.7313511048865, + 621.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1854.7313511048865, + 618.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1854.7313511048865, + 615.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1854.7313511048865, + 612.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1854.7313511048865, + 609.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1854.7313511048865, + 606.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1854.7313511048865, + 603.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1854.7313511048865, + 600.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1854.7313511048865, + 597.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1854.7313511048865, + 594.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1854.7313511048865, + 591.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1854.7313511048865, + 588.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1854.7313511048865, + 585.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1854.7313511048865, + 582.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1854.7313511048865, + 579.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1854.7313511048865, + 576.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1854.7313511048865, + 573.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1854.7313511048865, + 570.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1854.7313511048865, + 567.6119085653795, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1854.7313511048865, + 567.6119085653795, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1856.2313511048865, + 565.0138323540261, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1857.7313511048865, + 562.4157561426728, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1859.2313511048865, + 559.8176799313194, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1859.2313511048865, + 559.8176799313194, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-54-03_890405/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-54-03_890405/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b79d90d5af4b73d5319471f2f6548dc46a468841 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_03-54-03_890405/pose.jsonl @@ -0,0 +1,1055 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1969.2825828263428, + -120.32994257767223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1970.7825828263428, + -117.73186636631891, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1972.2825828263428, + -115.1337901549656, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1973.7825828263428, + -112.53571394361228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1975.2825828263428, + -109.93763773225896, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1976.7825828263428, + -107.33956152090565, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1978.2825828263428, + -104.74148530955233, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1979.7825828263428, + -102.14340909819902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1981.2825828263428, + -99.5453328868457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1982.7825828263428, + -96.94725667549238, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1984.2825828263428, + -94.34918046413907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1985.7825828263428, + -91.75110425278575, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 7.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 10.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 13.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 16.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 19.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 22.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 25.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 28.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 31.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 34.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 37.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 40.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 43.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 46.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 49.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 52.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 55.008504278406164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1987.2825828263428, + -89.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1987.2825828263428, + -86.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1987.2825828263428, + -83.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1987.2825828263428, + -80.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1987.2825828263428, + -77.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1987.2825828263428, + -74.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1987.2825828263428, + -71.15302804143244, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1987.2825828263428, + -68.15302804143244, + 55.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1987.2825828263428, + -68.15302804143244, + 58.008504278406164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1987.2825828263428, + -68.15302804143244, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1988.7825828263428, + -65.55495183007912, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1990.2825828263428, + -62.9568756187258, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1991.7825828263428, + -60.35879940737249, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1993.2825828263428, + -57.76072319601917, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1994.7825828263428, + -55.162646984665855, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1996.2825828263428, + -52.56457077331254, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1997.7825828263428, + -49.96649456195922, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1999.2825828263428, + -47.36841835060591, + 58.008504278406164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1999.2825828263428, + -47.36841835060591, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1999.2825828263428, + -44.36841835060591, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1999.2825828263428, + -41.36841835060591, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1999.2825828263428, + -38.36841835060591, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1999.2825828263428, + -35.36841835060591, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1999.2825828263428, + -32.36841835060591, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1999.2825828263428, + -29.368418350605907, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1999.2825828263428, + -26.368418350605907, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1999.2825828263428, + -23.368418350605907, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1999.2825828263428, + -20.368418350605907, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1999.2825828263428, + -17.368418350605907, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 58.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 55.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 52.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 49.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 46.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 43.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 40.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 37.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 34.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 31.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 28.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 25.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 22.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 19.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 16.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 13.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 10.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1999.2825828263428, + -14.368418350605907, + 7.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1999.2825828263428, + -11.368418350605907, + 7.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1999.2825828263428, + -8.368418350605907, + 7.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1999.2825828263428, + -8.368418350605907, + 4.008504278406164 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-22-48_302867/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-22-48_302867/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a51e709c202dd9314b3b7923faccf62613f2d2b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-22-48_302867/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1351.1880240020046, + 958.1119752034687, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1352.6880240020046, + 955.5138989921154, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1354.1880240020046, + 952.915822780762, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1355.6880240020046, + 950.3177465694087, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1357.1880240020046, + 947.7196703580553, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1358.6880240020046, + 945.1215941467019, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1360.1880240020046, + 942.5235179353485, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1361.6880240020046, + 939.9254417239952, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1363.1880240020046, + 937.3273655126418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1364.6880240020046, + 934.7292893012884, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1366.1880240020046, + 932.131213089935, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1367.6880240020046, + 929.5331368785817, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1369.1880240020046, + 926.9350606672283, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1370.6880240020046, + 924.3369844558749, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1372.1880240020046, + 921.7389082445216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1373.6880240020046, + 919.1408320331682, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1375.1880240020046, + 916.5427558218148, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1376.6880240020046, + 913.9446796104614, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1378.1880240020046, + 911.3466033991081, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1379.6880240020046, + 908.7485271877547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.1880240020046, + 906.1504509764013, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1382.6880240020046, + 903.552374765048, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1382.6880240020046, + 903.552374765048, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1384.1880240020046, + 900.9542985536946, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1385.6880240020046, + 898.3562223423412, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1387.1880240020046, + 895.7581461309878, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1388.6880240020046, + 893.1600699196345, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1390.1880240020046, + 890.5619937082811, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1391.6880240020046, + 887.9639174969277, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1393.1880240020046, + 885.3658412855743, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1394.6880240020046, + 882.767765074221, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1396.1880240020046, + 880.1696888628676, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1397.6880240020046, + 877.5716126515142, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1399.1880240020046, + 874.9735364401608, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1400.6880240020046, + 872.3754602288075, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1402.1880240020046, + 869.7773840174541, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1403.6880240020046, + 867.1793078061007, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1405.1880240020046, + 864.5812315947474, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1406.6880240020046, + 861.983155383394, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1408.1880240020046, + 859.3850791720406, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1409.6880240020046, + 856.7870029606872, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1409.6880240020046, + 856.7870029606872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1409.6880240020046, + 853.7870029606872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1409.6880240020046, + 850.7870029606872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1409.6880240020046, + 847.7870029606872, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1409.6880240020046, + 847.7870029606872, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-34-33_871344/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-34-33_871344/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54a3c84119e2d55b141ee72e593c4630431926d1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-34-33_871344/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1370.0620646362697, + 362.1364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1372.660140847623, + 363.6364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1375.2582170589765, + 365.1364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1377.8562932703298, + 366.6364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1380.4543694816832, + 368.1364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1383.0524456930366, + 369.6364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1385.65052190439, + 371.1364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1388.2485981157433, + 372.6364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1390.8466743270967, + 374.1364243081871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1393.44475053845, + 375.6364243081871, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1393.44475053845, + 375.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1396.0428267498035, + 377.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1398.6409029611568, + 378.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1401.2389791725102, + 380.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1403.8370553838636, + 381.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1406.435131595217, + 383.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1409.0332078065703, + 384.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1411.6312840179237, + 386.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1414.229360229277, + 387.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1416.8274364406304, + 389.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1419.4255126519838, + 390.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1422.0235888633372, + 392.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1424.6216650746906, + 393.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1427.219741286044, + 395.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1429.8178174973973, + 396.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1432.4158937087507, + 398.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1435.013969920104, + 399.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1437.6120461314574, + 401.1364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1440.2101223428108, + 402.6364243081871, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1440.2101223428108, + 402.6364243081871, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1441.7101223428108, + 405.2345005195404, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1443.2101223428108, + 407.8325767308937, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1444.7101223428108, + 410.43065294224704, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1446.2101223428108, + 413.02872915360035, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1447.7101223428108, + 415.62680536495367, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1449.2101223428108, + 418.224881576307, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1450.7101223428108, + 420.8229577876603, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1450.7101223428108, + 420.8229577876603, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-39-50_870397/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-39-50_870397/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c7351f5dabd0c434bcf169ce951c05a4e9575a9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-39-50_870397/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1705.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1708.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1711.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1714.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1717.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1720.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1723.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1726.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1729.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1732.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1732.140662068914, + 209.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1734.7387382802674, + 207.65473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1737.3368144916208, + 206.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1739.9348907029741, + 204.65473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1742.5329669143275, + 203.15473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1745.131043125681, + 201.65473443328491, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1747.7291193370343, + 200.15473443328491, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1747.7291193370343, + 200.15473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1750.3271955483876, + 198.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1752.925271759741, + 197.15473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1755.5233479710944, + 195.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1758.1214241824478, + 194.15473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1760.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1760.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1763.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1766.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1769.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1772.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1775.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1775.7195003938011, + 192.65473443328491, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1778.3175766051545, + 191.15473443328491, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1778.3175766051545, + 191.15473443328491, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1868.0, + 168.0, + 104.903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-40-15_245488/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-40-15_245488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..514a6456a936125f77f013977f8bb66a46da3529 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-40-15_245488/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 118.58305776065005, + 83.79266659905784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.08305776065005, + 81.19459038770452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.58305776065005, + 78.5965141763512, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 114.08305776065005, + 75.99843796499789, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.58305776065005, + 73.40036175364457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 111.08305776065005, + 70.80228554229126, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.58305776065005, + 68.20420933093794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 108.08305776065005, + 65.60613311958463, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 106.58305776065005, + 63.00805690823131, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 106.58305776065005, + 63.00805690823131, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 106.58305776065005, + 63.00805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 103.98498154929673, + 61.50805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 101.38690533794342, + 60.00805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 98.7888291265901, + 58.50805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 96.19075291523679, + 57.00805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 93.59267670388347, + 55.50805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 90.99460049253015, + 54.00805690823131, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 90.99460049253015, + 54.00805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 87.99460049253015, + 54.00805690823131, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 87.99460049253015, + 54.00805690823131, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 87.99460049253015, + 54.00805690823131, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 86.49460049253015, + 51.409980696877994, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 84.99460049253015, + 48.81190448552468, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 83.49460049253015, + 46.21382827417136, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 81.99460049253015, + 43.615752062818046, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 80.49460049253015, + 41.01767585146473, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 78.99460049253015, + 38.419599640111414, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 77.49460049253015, + 35.8215234287581, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 75.99460049253015, + 33.22344721740478, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 74.49460049253015, + 30.625371006051466, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 72.99460049253015, + 28.02729479469815, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 71.49460049253015, + 25.429218583344834, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 69.99460049253015, + 22.83114237199152, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 68.49460049253015, + 20.233066160638202, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 66.99460049253015, + 17.634989949284886, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 65.49460049253015, + 15.03691373793157, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 63.994600492530154, + 12.438837526578254, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 62.494600492530154, + 9.840761315224938, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 60.994600492530154, + 7.242685103871622, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 59.494600492530154, + 4.644608892518306, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 57.994600492530154, + 2.04653268116499, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 56.494600492530154, + -0.5515435301883258, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 54.994600492530154, + -3.149619741541642, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 53.494600492530154, + -5.747695952894958, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 51.994600492530154, + -8.345772164248274, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 51.994600492530154, + -8.345772164248274, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 49.39652428117684, + -9.845772164248274, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 46.79844806982352, + -11.345772164248274, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 44.200371858470206, + -12.845772164248274, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 41.60229564711689, + -14.345772164248274, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 39.004219435763574, + -15.845772164248274, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 36.40614322441026, + -17.345772164248274, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 36.40614322441026, + -17.345772164248274, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 20.0, + -40.0, + 31.11 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-46-32_398959/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-46-32_398959/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cae863f61dd73c1c28553f0a14c1ceaadd8475f4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_04-46-32_398959/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 459.09560555649614, + 248.41656551629313, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 460.59560555649614, + 245.81848930493982, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 462.09560555649614, + 243.2204130935865, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 463.59560555649614, + 240.62233688223318, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 465.09560555649614, + 238.02426067087987, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 466.59560555649614, + 235.42618445952655, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 468.09560555649614, + 232.82810824817324, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 469.59560555649614, + 230.23003203681992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.09560555649614, + 227.6319558254666, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 472.59560555649614, + 225.0338796141133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 474.09560555649614, + 222.43580340275997, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 475.59560555649614, + 219.83772719140666, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 477.09560555649614, + 217.23965098005334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 478.59560555649614, + 214.64157476870002, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 480.09560555649614, + 212.0434985573467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 481.59560555649614, + 209.4454223459934, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 483.09560555649614, + 206.84734613464008, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 484.59560555649614, + 204.24926992328676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 486.09560555649614, + 201.65119371193344, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 487.59560555649614, + 199.05311750058013, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 489.09560555649614, + 196.4550412892268, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 490.59560555649614, + 193.8569650778735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 492.09560555649614, + 191.25888886652018, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 492.09560555649614, + 191.25888886652018, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 492.09560555649614, + 191.25888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 494.69368176784945, + 189.75888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 497.29175797920277, + 188.25888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 499.8898341905561, + 186.75888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 502.4879104019094, + 185.25888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 505.0859866132627, + 183.75888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 507.68406282461603, + 182.25888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 510.28213903596935, + 180.75888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 512.8802152473227, + 179.25888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 515.478291458676, + 177.75888886652018, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 515.478291458676, + 177.75888886652018, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 516.978291458676, + 175.16081265516686, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 518.478291458676, + 172.56273644381355, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 519.978291458676, + 169.96466023246023, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 521.478291458676, + 167.36658402110692, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 522.978291458676, + 164.7685078097536, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 524.478291458676, + 162.17043159840028, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 525.978291458676, + 159.57235538704697, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 527.478291458676, + 156.97427917569365, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 528.978291458676, + 154.37620296434034, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 528.978291458676, + 154.37620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 531.5763676700294, + 152.87620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 534.1744438813828, + 151.37620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 536.7725200927362, + 149.87620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 539.3705963040895, + 148.37620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 541.9686725154429, + 146.87620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 544.5667487267963, + 145.37620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 547.1648249381496, + 143.87620296434034, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 549.762901149503, + 142.37620296434034, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 549.762901149503, + 142.37620296434034, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-24-34_518598/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-24-34_518598/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9b718d81f41c2bf1629c7a2beb3537aa6d11439 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-24-34_518598/pose.jsonl @@ -0,0 +1,951 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1982.8348335983499, + -116.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1982.8348335983499, + -113.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1982.8348335983499, + -110.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1982.8348335983499, + -107.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1982.8348335983499, + -104.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1982.8348335983499, + -101.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1982.8348335983499, + -98.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1982.8348335983499, + -95.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1982.8348335983499, + -92.02281806448568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 7.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 10.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 13.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 16.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 19.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 22.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 25.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 28.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 31.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 34.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 37.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 40.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 43.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 46.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 49.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 52.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 55.008504278406164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1982.8348335983499, + -89.02281806448568, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1984.3348335983499, + -86.42474185313236, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1985.8348335983499, + -83.82666564177904, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1987.3348335983499, + -81.22858943042573, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1988.8348335983499, + -78.63051321907241, + 55.008504278406164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1988.8348335983499, + -78.63051321907241, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1988.8348335983499, + -75.63051321907241, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1988.8348335983499, + -72.63051321907241, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1988.8348335983499, + -69.63051321907241, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1988.8348335983499, + -66.63051321907241, + 55.008504278406164 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1988.8348335983499, + -66.63051321907241, + 58.008504278406164 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1988.8348335983499, + -66.63051321907241, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1990.3348335983499, + -64.0324370077191, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1991.8348335983499, + -61.43436079636578, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1993.3348335983499, + -58.836284585012464, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1994.8348335983499, + -56.23820837365915, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1996.3348335983499, + -53.64013216230583, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1997.8348335983499, + -51.042055950952516, + 58.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1999.3348335983499, + -48.4439797395992, + 58.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1999.3348335983499, + -48.4439797395992, + 55.008504278406164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1999.3348335983499, + -48.4439797395992, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1999.3348335983499, + -45.4439797395992, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1999.3348335983499, + -42.4439797395992, + 55.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 55.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 52.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 49.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 46.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 43.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 40.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 37.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 34.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 31.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 28.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 25.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 22.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 19.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 16.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1999.3348335983499, + -39.4439797395992, + 13.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1999.3348335983499, + -36.4439797395992, + 13.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1999.3348335983499, + -33.4439797395992, + 13.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1999.3348335983499, + -30.4439797395992, + 13.008504278406164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1999.3348335983499, + -27.4439797395992, + 13.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1999.3348335983499, + -27.4439797395992, + 10.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1999.3348335983499, + -27.4439797395992, + 7.008504278406164 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1999.3348335983499, + -27.4439797395992, + 4.008504278406164 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 40.0, + 2.59066 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-32-54_685282/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-32-54_685282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a82570c9fedc2a246bd438ba5e3c63db3a42ff2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-32-54_685282/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 779.4521804672473, + 104.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 779.4521804672473, + 101.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 779.4521804672473, + 98.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 779.4521804672473, + 95.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 779.4521804672473, + 92.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 779.4521804672473, + 89.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 779.4521804672473, + 86.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 779.4521804672473, + 83.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 779.4521804672473, + 80.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 779.4521804672473, + 77.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 779.4521804672473, + 74.21793174853872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 779.4521804672473, + 71.21793174853872, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 779.4521804672473, + 71.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 779.4521804672473, + 68.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 779.4521804672473, + 65.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 779.4521804672473, + 62.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 779.4521804672473, + 59.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 779.4521804672473, + 56.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 779.4521804672473, + 53.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 779.4521804672473, + 50.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 779.4521804672473, + 47.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 779.4521804672473, + 44.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 779.4521804672473, + 41.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 779.4521804672473, + 38.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 779.4521804672473, + 35.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 779.4521804672473, + 32.21793174853872, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 779.4521804672473, + 32.21793174853872, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 779.4521804672473, + 32.21793174853872, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 782.0502566786006, + 30.717931748538717, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 784.648332889954, + 29.217931748538717, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 787.2464091013073, + 27.717931748538717, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 789.8444853126607, + 26.217931748538717, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 792.4425615240141, + 24.717931748538717, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 792.4425615240141, + 24.717931748538717, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 793.9425615240141, + 22.1198555371854, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 795.4425615240141, + 19.521779325832085, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 796.9425615240141, + 16.92370311447877, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 798.4425615240141, + 14.325626903125453, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 799.9425615240141, + 11.727550691772137, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 801.4425615240141, + 9.129474480418821, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 802.9425615240141, + 6.531398269065505, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 804.4425615240141, + 3.9333220577121892, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 805.9425615240141, + 1.3352458463588732, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 807.4425615240141, + -1.2628303649944428, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 808.9425615240141, + -3.860906576347759, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 810.4425615240141, + -6.458982787701075, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 811.9425615240141, + -9.05705899905439, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 813.4425615240141, + -11.655135210407707, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 814.9425615240141, + -14.253211421761023, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 816.4425615240141, + -16.85128763311434, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 817.9425615240141, + -19.449363844467655, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 819.4425615240141, + -22.04744005582097, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 819.4425615240141, + -22.04744005582097, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 828.0, + -52.0, + 0.708504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-46-09_506463/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-46-09_506463/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fe13e9c7ffa26774e949708c8f1fb7db61c500f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-46-09_506463/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 704.1928542853685, + 241.07795703724057, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 704.1928542853685, + 244.07795703724057, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 704.1928542853685, + 247.07795703724057, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 704.1928542853685, + 250.07795703724057, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 704.1928542853685, + 253.07795703724057, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 704.1928542853685, + 256.0779570372406, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 704.1928542853685, + 259.0779570372406, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 704.1928542853685, + 259.0779570372406, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 704.1928542853685, + 259.0779570372406, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 702.6928542853685, + 261.6760332485939, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 701.1928542853685, + 264.2741094599472, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 699.6928542853685, + 266.87218567130054, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 698.1928542853685, + 269.47026188265386, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 696.6928542853685, + 272.0683380940072, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 695.1928542853685, + 274.6664143053605, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 695.1928542853685, + 274.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 695.1928542853685, + 277.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 695.1928542853685, + 280.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 695.1928542853685, + 283.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 695.1928542853685, + 286.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 695.1928542853685, + 289.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 695.1928542853685, + 292.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 695.1928542853685, + 295.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 695.1928542853685, + 298.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 695.1928542853685, + 301.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 695.1928542853685, + 304.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 695.1928542853685, + 307.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 695.1928542853685, + 310.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 695.1928542853685, + 313.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 695.1928542853685, + 316.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 695.1928542853685, + 319.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 695.1928542853685, + 322.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 695.1928542853685, + 325.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 695.1928542853685, + 328.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 695.1928542853685, + 331.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 695.1928542853685, + 334.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 695.1928542853685, + 337.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 695.1928542853685, + 340.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 695.1928542853685, + 343.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 695.1928542853685, + 346.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 695.1928542853685, + 349.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 695.1928542853685, + 352.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 695.1928542853685, + 355.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 695.1928542853685, + 358.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 695.1928542853685, + 361.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 695.1928542853685, + 364.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 695.1928542853685, + 367.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 695.1928542853685, + 370.6664143053605, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 695.1928542853685, + 373.6664143053605, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 695.1928542853685, + 373.6664143053605, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 400.0, + -0.375042 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-48-44_701012/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-48-44_701012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e39659c376c771818e155ee5f77d37dadd582bdf --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_05-48-44_701012/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 318.2717380730643, + 501.5050972547891, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 320.8698142844176, + 500.0050972547891, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 323.4678904957709, + 498.5050972547891, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 323.4678904957709, + 498.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 326.06596670712423, + 497.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 328.66404291847755, + 495.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 331.26211912983086, + 494.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 333.8601953411842, + 492.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 336.4582715525375, + 491.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 339.0563477638908, + 489.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 341.65442397524413, + 488.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 344.25250018659744, + 486.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 346.85057639795076, + 485.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 349.4486526093041, + 483.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 352.0467288206574, + 482.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 354.6448050320107, + 480.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 357.242881243364, + 479.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 359.84095745471734, + 477.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 362.43903366607066, + 476.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 365.037109877424, + 474.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 367.6351860887773, + 473.0050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 370.2332623001306, + 471.5050972547891, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 370.2332623001306, + 471.5050972547891, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 371.7332623001306, + 468.9070210434358, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 373.2332623001306, + 466.3089448320825, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 374.7332623001306, + 463.7108686207292, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 376.2332623001306, + 461.11279240937586, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 377.7332623001306, + 458.51471619802254, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 379.2332623001306, + 455.9166399866692, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 380.7332623001306, + 453.3185637753159, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 382.2332623001306, + 450.7204875639626, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 383.7332623001306, + 448.1224113526093, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 385.2332623001306, + 445.52433514125596, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 386.7332623001306, + 442.92625892990264, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 388.2332623001306, + 440.32818271854933, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 389.7332623001306, + 437.730106507196, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 391.2332623001306, + 435.1320302958427, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 392.7332623001306, + 432.5339540844894, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 394.2332623001306, + 429.93587787313606, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 395.7332623001306, + 427.33780166178275, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 397.2332623001306, + 424.73972545042943, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 398.7332623001306, + 422.1416492390761, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 400.2332623001306, + 419.5435730277228, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 401.7332623001306, + 416.9454968163695, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 401.7332623001306, + 416.9454968163695, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 436.0, + 384.0, + -0.096741 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-22-34_110983/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-22-34_110983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c88b31aabc127a7f8ebc72c1e55f356915c89c7d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-22-34_110983/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1460.569206620659, + 880.3151918527574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1459.069206620659, + 882.9132680641108, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1457.569206620659, + 885.5113442754641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1456.069206620659, + 888.1094204868175, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1454.569206620659, + 890.7074966981709, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1454.569206620659, + 890.7074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1451.9711304093057, + 892.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1449.3730541979523, + 893.7074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1446.774977986599, + 895.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1444.1769017752456, + 896.7074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1441.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1441.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1438.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1435.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1432.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1429.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1426.5788255638922, + 898.2074966981709, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1426.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1423.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1420.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1417.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1414.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1411.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1408.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1405.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1402.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1399.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1396.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1393.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1390.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1387.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1384.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1381.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1378.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1375.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1372.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1369.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1366.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1363.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1360.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1357.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1354.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1351.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1348.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1345.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1342.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1342.5788255638922, + 898.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1339.9807493525389, + 896.7074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1337.3826731411855, + 895.2074966981709, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1334.784596929832, + 893.7074966981709, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1334.784596929832, + 893.7074966981709, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1296.0, + 896.0, + 0.734581 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-24-58_169403/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-24-58_169403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3954e8e21b20d1c075dcdd2b4c43c4f67e8f3c56 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-24-58_169403/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 958.5620950352758, + 938.3787633038039, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 957.0620950352758, + 940.9768395151573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 955.5620950352758, + 943.5749157265107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 954.0620950352758, + 946.172991937864, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 952.5620950352758, + 948.7710681492174, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 951.0620950352758, + 951.3691443605708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 949.5620950352758, + 953.9672205719241, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 948.0620950352758, + 956.5652967832775, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 946.5620950352758, + 959.1633729946309, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 945.0620950352758, + 961.7614492059843, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 945.0620950352758, + 961.7614492059843, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 945.0620950352758, + 961.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 945.0620950352758, + 964.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 945.0620950352758, + 967.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 945.0620950352758, + 970.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 945.0620950352758, + 973.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 945.0620950352758, + 976.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 945.0620950352758, + 979.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 945.0620950352758, + 982.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 945.0620950352758, + 985.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 945.0620950352758, + 988.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 945.0620950352758, + 991.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 945.0620950352758, + 994.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 945.0620950352758, + 997.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 945.0620950352758, + 1000.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 945.0620950352758, + 1003.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 945.0620950352758, + 1006.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 945.0620950352758, + 1009.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 945.0620950352758, + 1012.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 945.0620950352758, + 1015.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 945.0620950352758, + 1018.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 945.0620950352758, + 1021.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 945.0620950352758, + 1024.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 945.0620950352758, + 1027.7614492059843, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 945.0620950352758, + 1030.7614492059843, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 945.0620950352758, + 1030.7614492059843, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 1100.0, + 0.524277 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-27-25_764205/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-27-25_764205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d35b361b46f602a443ebd7cb707a74ddc0ebd03 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-27-25_764205/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -150.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -147.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -144.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -138.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -135.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -132.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -129.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -126.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -120.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -117.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -108.1811474521196, + -392.70633270947286, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -108.1811474521196, + -392.70633270947286, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -108.1811474521196, + -392.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -105.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -105.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -102.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -99.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -96.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -93.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -90.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -87.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -84.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -81.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -78.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -75.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -72.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -72.58307124076629, + -394.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -69.98499502941297, + -392.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -67.38691881805966, + -391.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -64.78884260670634, + -389.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -62.19076639535302, + -388.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -59.59269018399971, + -386.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -56.99461397264639, + -385.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.396537761293075, + -383.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -51.79846154993976, + -382.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -49.20038533858644, + -380.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -46.60230912723313, + -379.20633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -44.00423291587981, + -377.70633270947286, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -41.406156704526495, + -376.20633270947286, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -41.406156704526495, + -376.20633270947286, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-28-46_603492/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-28-46_603492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..748b0c3fc7c0d6daaea503af375fedd1075f55d1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-28-46_603492/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 441.247871476029, + 235.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 443.8459476873823, + 234.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 446.4440238987356, + 232.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 449.04210011008894, + 231.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 451.64017632144225, + 229.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 454.23825253279557, + 228.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 456.8363287441489, + 226.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 459.4344049555022, + 225.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 462.0324811668555, + 223.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 464.63055737820883, + 222.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 467.22863358956215, + 220.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 469.82670980091547, + 219.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 472.4247860122688, + 217.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 475.0228622236221, + 216.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 477.6209384349754, + 214.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 480.21901464632873, + 213.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 482.81709085768205, + 211.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 485.41516706903536, + 210.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 488.0132432803887, + 208.73155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 490.611319491742, + 207.23155625402995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 493.2093957030953, + 205.73155625402995, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 493.2093957030953, + 205.73155625402995, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 493.2093957030953, + 205.73155625402995, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 494.7093957030953, + 203.13348004267664, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 496.2093957030953, + 200.53540383132332, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 497.7093957030953, + 197.93732761997, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 499.2093957030953, + 195.3392514086167, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 500.7093957030953, + 192.74117519726337, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 502.2093957030953, + 190.14309898591006, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 503.7093957030953, + 187.54502277455674, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 505.2093957030953, + 184.94694656320343, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 506.7093957030953, + 182.3488703518501, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 508.2093957030953, + 179.7507941404968, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 509.7093957030953, + 177.15271792914348, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 511.2093957030953, + 174.55464171779016, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 512.7093957030953, + 171.95656550643685, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 514.2093957030953, + 169.35848929508353, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 515.7093957030953, + 166.7604130837302, + 7.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 515.7093957030953, + 166.7604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 518.3074719144486, + 165.2604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 520.9055481258019, + 163.7604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 523.5036243371553, + 162.2604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 526.1017005485087, + 160.7604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 528.6997767598621, + 159.2604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 531.2978529712154, + 157.7604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 533.8959291825688, + 156.2604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 536.4940053939222, + 154.7604130837302, + 7.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 536.4940053939222, + 154.7604130837302, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 537.9940053939222, + 152.1623368723769, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 539.4940053939222, + 149.56426066102358, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 540.9940053939222, + 146.96618444967027, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 542.4940053939222, + 144.36810823831695, + 7.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 543.9940053939222, + 141.77003202696363, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 543.9940053939222, + 141.77003202696363, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-36-16_10021/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-36-16_10021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6dd25863abc7cf3e64367d031a923d91f588e335 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-01-19_06-36-16_10021/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1542.2911570557612, + 919.0947929359686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1540.7911570557612, + 916.4967167246152, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1539.2911570557612, + 913.8986405132619, + 4.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1539.2911570557612, + 913.8986405132619, + 7.008504278406168 + ], + "type": "go up", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1539.2911570557612, + 913.8986405132619, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1537.7911570557612, + 911.3005643019085, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1536.2911570557612, + 908.7024880905551, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1534.7911570557612, + 906.1044118792017, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1533.2911570557612, + 903.5063356678484, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1531.7911570557612, + 900.908259456495, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1530.2911570557612, + 898.3101832451416, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1528.7911570557612, + 895.7121070337882, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1527.2911570557612, + 893.1140308224349, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1525.7911570557612, + 890.5159546110815, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1524.2911570557612, + 887.9178783997281, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1522.7911570557612, + 885.3198021883748, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1521.2911570557612, + 882.7217259770214, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1519.7911570557612, + 880.123649765668, + 10.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1519.7911570557612, + 880.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1517.1930808444079, + 878.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1514.5950046330545, + 877.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1511.996928421701, + 875.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1509.3988522103477, + 874.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1506.8007759989944, + 872.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1504.202699787641, + 871.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1501.6046235762876, + 869.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1499.0065473649342, + 868.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1496.4084711535809, + 866.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1493.8103949422275, + 865.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1491.2123187308741, + 863.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1488.6142425195208, + 862.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1486.0161663081674, + 860.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1483.418090096814, + 859.123649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1480.8200138854606, + 857.623649765668, + 10.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1478.2219376741073, + 856.123649765668, + 10.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1478.2219376741073, + 856.123649765668, + 7.008504278406168 + ], + "type": "go down", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1478.2219376741073, + 856.123649765668, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1478.2219376741073, + 856.123649765668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1476.7219376741073, + 853.5255735543146, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1432.0, + 808.0, + 102.413 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-12-1_1967513926/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-12-1_1967513926/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..404017104e2645c6f7df7d8f0ffd6b4ebf562ab8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-12-1_1967513926/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1595.1627817517046, + 335.20926373177684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1595.1627817517046, + 332.20926373177684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1595.1627817517046, + 329.20926373177684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1595.1627817517046, + 326.20926373177684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1595.1627817517046, + 323.20926373177684, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1595.1627817517046, + 323.20926373177684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1596.6627817517046, + 320.6111875204235, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1598.1627817517046, + 318.0131113090702, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1599.6627817517046, + 315.4150350977169, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1601.1627817517046, + 312.8169588863636, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1602.6627817517046, + 310.21888267501026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1604.1627817517046, + 307.62080646365695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1605.6627817517046, + 305.02273025230363, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1607.1627817517046, + 302.4246540409503, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1608.6627817517046, + 299.826577829597, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1610.1627817517046, + 297.2285016182437, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1610.1627817517046, + 297.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1610.1627817517046, + 294.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1610.1627817517046, + 291.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1610.1627817517046, + 288.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1610.1627817517046, + 285.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1610.1627817517046, + 282.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1610.1627817517046, + 279.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1610.1627817517046, + 276.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1610.1627817517046, + 273.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1610.1627817517046, + 270.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1610.1627817517046, + 267.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1610.1627817517046, + 264.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1610.1627817517046, + 261.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1610.1627817517046, + 258.2285016182437, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1610.1627817517046, + 255.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1610.1627817517046, + 252.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1610.1627817517046, + 249.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1610.1627817517046, + 246.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1610.1627817517046, + 243.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1610.1627817517046, + 240.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1610.1627817517046, + 237.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1610.1627817517046, + 234.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1610.1627817517046, + 231.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1610.1627817517046, + 228.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1610.1627817517046, + 225.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1610.1627817517046, + 222.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1610.1627817517046, + 219.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1610.1627817517046, + 216.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1610.1627817517046, + 213.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1610.1627817517046, + 210.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1610.1627817517046, + 207.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1610.1627817517046, + 204.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1610.1627817517046, + 201.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1610.1627817517046, + 198.22850161824368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1610.1627817517046, + 195.22850161824368, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + 164.0, + 123.13 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-23-30_1131176229/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-23-30_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cf9a8e2664aba0b9ab1286d1218b294522281e6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-23-30_1131176229/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1087.6323130063363, + 914.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1084.6323130063363, + 914.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1081.6323130063363, + 914.5958386939858, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1081.6323130063363, + 914.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1079.034236794983, + 913.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1076.4361605836295, + 911.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1073.8380843722762, + 910.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1071.2400081609228, + 908.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1068.6419319495694, + 907.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1066.043855738216, + 905.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1063.4457795268627, + 904.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1060.8477033155093, + 902.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1058.249627104156, + 901.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1055.6515508928026, + 899.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1053.0534746814492, + 898.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1050.4553984700958, + 896.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1047.8573222587424, + 895.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1045.259246047389, + 893.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1042.6611698360357, + 892.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1040.0630936246823, + 890.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1037.465017413329, + 889.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1034.8669412019756, + 887.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1032.2688649906222, + 886.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1029.6707887792688, + 884.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1027.0727125679155, + 883.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1024.474636356562, + 881.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1021.8765601452087, + 880.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1019.2784839338553, + 878.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1016.680407722502, + 877.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1014.0823315111486, + 875.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1011.4842552997952, + 874.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1008.8861790884418, + 872.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1006.2881028770885, + 871.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1003.6900266657351, + 869.5958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1001.0919504543817, + 868.0958386939858, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1001.0919504543817, + 868.0958386939858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 999.5919504543817, + 865.4977624826324, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 998.0919504543817, + 862.899686271279, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 996.5919504543817, + 860.3016100599257, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 995.0919504543817, + 857.7035338485723, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 993.5919504543817, + 855.1054576372189, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 992.0919504543817, + 852.5073814258656, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 990.5919504543817, + 849.9093052145122, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 989.0919504543817, + 847.3112290031588, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 987.5919504543817, + 844.7131527918054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 986.0919504543817, + 842.1150765804521, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 984.5919504543817, + 839.5170003690987, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 983.0919504543817, + 836.9189241577453, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 981.5919504543817, + 834.320847946392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 980.0919504543817, + 831.7227717350386, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 978.5919504543817, + 829.1246955236852, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 977.0919504543817, + 826.5266193123318, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 975.5919504543817, + 823.9285431009785, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 974.0919504543817, + 821.3304668896251, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 800.0, + 0.299606 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-23-58_1653377373/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-23-58_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e423964fa47c9ffe610bd533df1a69e99b7c604b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-23-58_1653377373/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1352.5910566564412, + 655.462762598548, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1354.0910566564412, + 658.0608388099013, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1355.5910566564412, + 660.6589150212546, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1357.0910566564412, + 663.256991232608, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1358.5910566564412, + 665.8550674439614, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1360.0910566564412, + 668.4531436553148, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1361.5910566564412, + 671.0512198666681, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1363.0910566564412, + 673.6492960780215, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1364.5910566564412, + 676.2473722893749, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1366.0910566564412, + 678.8454485007283, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1367.5910566564412, + 681.4435247120816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1369.0910566564412, + 684.041600923435, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1370.5910566564412, + 686.6396771347884, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1372.0910566564412, + 689.2377533461417, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1373.5910566564412, + 691.8358295574951, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1375.0910566564412, + 694.4339057688485, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1376.5910566564412, + 697.0319819802019, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1378.0910566564412, + 699.6300581915552, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1379.5910566564412, + 702.2281344029086, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1381.0910566564412, + 704.826210614262, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.0910566564412, + 704.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1381.0910566564412, + 707.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1381.0910566564412, + 710.826210614262, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1381.0910566564412, + 710.826210614262, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1381.0910566564412, + 710.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1383.6891328677946, + 712.326210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1386.287209079148, + 713.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1388.8852852905013, + 715.326210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1391.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1391.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1394.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1397.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1400.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1403.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1406.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1409.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1412.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1415.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1418.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1421.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1424.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1427.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1430.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1433.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1436.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1439.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1442.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1445.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1448.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1451.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1454.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1457.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1460.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1463.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1466.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1469.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1472.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1475.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1478.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1481.4833615018547, + 716.826210614262, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-28-19_184803526/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-28-19_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..359e40a28322ef23f83f2be214f3d14070249559 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-28-19_184803526/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1455.016012116849, + 893.412742061583, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1456.516012116849, + 890.8146658502296, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1458.016012116849, + 888.2165896388763, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1459.516012116849, + 885.6185134275229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1461.016012116849, + 883.0204372161695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1462.516012116849, + 880.4223610048161, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1464.016012116849, + 877.8242847934628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1465.516012116849, + 875.2262085821094, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1467.016012116849, + 872.628132370756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1468.516012116849, + 870.0300561594026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1470.016012116849, + 867.4319799480493, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1471.516012116849, + 864.8339037366959, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1473.016012116849, + 862.2358275253425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1474.516012116849, + 859.6377513139892, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1476.016012116849, + 857.0396751026358, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1477.516012116849, + 854.4415988912824, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1479.016012116849, + 851.843522679929, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1480.516012116849, + 849.2454464685757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1482.016012116849, + 846.6473702572223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1483.516012116849, + 844.0492940458689, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1485.016012116849, + 841.4512178345155, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1485.016012116849, + 841.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1485.016012116849, + 838.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1485.016012116849, + 835.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1485.016012116849, + 832.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1485.016012116849, + 829.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1485.016012116849, + 826.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1485.016012116849, + 823.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1485.016012116849, + 820.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1485.016012116849, + 817.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1485.016012116849, + 814.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1485.016012116849, + 811.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1485.016012116849, + 808.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1485.016012116849, + 805.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1485.016012116849, + 802.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1485.016012116849, + 799.4512178345155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1485.016012116849, + 796.4512178345155, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-31-22_982906996/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-31-22_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad07a640564deab3f74d64e00e7d3355bf41cb6c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-31-22_982906996/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1813.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1816.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1819.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1822.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1825.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1828.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1831.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1834.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1837.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1840.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1843.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1846.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1849.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1852.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1855.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1858.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1861.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1864.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1867.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1870.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1873.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1876.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1879.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1882.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1885.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1888.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1891.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1894.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1897.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1900.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1903.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1906.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1906.6427790103958, + 336.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1909.2408552217491, + 334.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1911.8389314331025, + 333.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1914.437007644456, + 331.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1917.0350838558093, + 330.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1919.6331600671626, + 328.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1922.231236278516, + 327.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1924.8293124898694, + 325.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1927.4273887012228, + 324.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1930.0254649125761, + 322.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1932.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1932.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1935.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1938.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1941.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1944.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1944.6235411239295, + 321.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1947.2216173352829, + 322.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1949.8196935466362, + 324.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1952.4177697579896, + 325.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1955.015845969343, + 327.16390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1957.6139221806964, + 328.66390253191145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1960.2119983920497, + 330.16390253191145, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-36-37_1141616124/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-36-37_1141616124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a512db8645fafdf04b1bc2528c03feed160addd6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-36-37_1141616124/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 388.9145314800812, + 142.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 386.3164552687279, + 141.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 383.7183790573746, + 139.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 381.1203028460213, + 138.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 378.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 378.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 375.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 372.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 369.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 366.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 363.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 357.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 354.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 351.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 348.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 345.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 339.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 336.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 333.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 327.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 324.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 321.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 318.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 315.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 312.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 309.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 306.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 300.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 297.52222663466796, + 136.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 294.92415042331464, + 138.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 292.3260742119613, + 139.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 289.727998000608, + 141.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 287.1299217892547, + 142.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 284.5318455779014, + 144.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 281.93376936654806, + 145.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 279.33569315519475, + 147.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 276.73761694384143, + 148.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 274.1395407324881, + 150.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 271.5414645211348, + 151.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 268.9433883097815, + 153.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 266.34531209842817, + 154.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 263.74723588707485, + 156.4180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 261.14915967572153, + 157.9180614969714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 258.5510834643682, + 159.4180614969714, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-47-17_943947739/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-47-17_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaa851b7331d55aea942cd539b449b4cbdd8a42d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-47-17_943947739/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 801.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 804.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 807.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 810.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 813.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 816.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 819.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 822.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 825.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 828.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 831.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 834.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 837.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 840.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 840.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 840.9354827633916, + 399.06030987920497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 842.4354827633916, + 401.6583860905583, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 843.9354827633916, + 404.2564623019116, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 845.4354827633916, + 406.8545385132649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 846.9354827633916, + 409.45261472461823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 848.4354827633916, + 412.05069093597155, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 848.4354827633916, + 412.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 851.0335589747449, + 413.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 853.6316351860983, + 415.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 856.2297113974516, + 416.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 858.827787608805, + 418.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 861.4258638201584, + 419.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 864.0239400315118, + 421.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 866.6220162428651, + 422.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 869.2200924542185, + 424.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 871.8181686655719, + 425.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 874.4162448769252, + 427.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 877.0143210882786, + 428.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 879.612397299632, + 430.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 882.2104735109854, + 431.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 884.8085497223387, + 433.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 887.4066259336921, + 434.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 890.0047021450455, + 436.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 892.6027783563989, + 437.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 895.2008545677522, + 439.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 897.7989307791056, + 440.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 900.397006990459, + 442.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 902.9950832018123, + 443.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 905.5931594131657, + 445.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 908.1912356245191, + 446.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 910.7893118358725, + 448.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 913.3873880472258, + 449.55069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 915.9854642585792, + 451.05069093597155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 918.5835404699326, + 452.55069093597155, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-50-49_2040651434/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-50-49_2040651434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fcdd26f86a60017537cb5ea5e69eed8861fa18b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-50-49_2040651434/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 955.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 952.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 949.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 946.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 943.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 940.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 937.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 934.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 931.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 928.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 925.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 922.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 919.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 916.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 913.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 910.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 907.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 904.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 901.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 898.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 895.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 892.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 889.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 886.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 883.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 880.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 877.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 874.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 871.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 868.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 868.4582672540605, + 311.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 865.8601910427071, + 310.1800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 863.2621148313538, + 308.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 860.6640386200004, + 307.1800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 858.065962408647, + 305.6800423626992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 855.4678861972936, + 304.1800423626992, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 296.0, + 1.28039 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-51-8_1975960378/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-51-8_1975960378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5982be5b6d30f0458f6cffb72d449e0964a8440f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-51-8_1975960378/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 395.7905848520818, + 420.8128806394765, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.1925086407285, + 419.3128806394765, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.59443242937516, + 417.8128806394765, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.59443242937516, + 417.8128806394765, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.09443242937516, + 415.21480442812316, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 387.59443242937516, + 412.61672821676984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 386.09443242937516, + 410.0186520054165, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 384.59443242937516, + 407.4205757940632, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 383.09443242937516, + 404.8224995827099, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 381.59443242937516, + 402.2244233713566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 380.09443242937516, + 399.62634716000326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 378.59443242937516, + 397.02827094864995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 377.09443242937516, + 394.43019473729663, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 375.59443242937516, + 391.8321185259433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 374.09443242937516, + 389.23404231459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 372.59443242937516, + 386.6359661032367, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 371.09443242937516, + 384.03788989188337, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 369.59443242937516, + 381.43981368053005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 368.09443242937516, + 378.84173746917673, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 366.59443242937516, + 376.2436612578234, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 365.09443242937516, + 373.6455850464701, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 363.59443242937516, + 371.0475088351168, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 362.09443242937516, + 368.44943262376347, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.59443242937516, + 365.85135641241015, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 359.09443242937516, + 363.25328020105684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 357.59443242937516, + 360.6552039897035, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 356.09443242937516, + 358.0571277783502, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 356.09443242937516, + 358.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 356.09443242937516, + 355.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 356.09443242937516, + 352.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 356.09443242937516, + 349.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 356.09443242937516, + 346.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 356.09443242937516, + 343.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 356.09443242937516, + 340.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 356.09443242937516, + 337.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 356.09443242937516, + 334.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 356.09443242937516, + 331.0571277783502, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 356.09443242937516, + 331.0571277783502, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 356.09443242937516, + 331.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 353.49635621802184, + 329.5571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 350.89828000666853, + 328.0571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 348.3002037953152, + 326.5571277783502, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 348.3002037953152, + 326.5571277783502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 346.8002037953152, + 323.9590515669969, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 345.3002037953152, + 321.3609753556436, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 343.8002037953152, + 318.76289914429026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 342.3002037953152, + 316.16482293293694, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 340.8002037953152, + 313.5667467215836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 339.3002037953152, + 310.9686705102303, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-53-54_603570492/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-53-54_603570492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..142b7e5ac9f2332138f7c8c8029cb2ef73c0ad1b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_20-53-54_603570492/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.31322237139625, + 120.21013921718381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 390.31322237139625, + 123.21013921718381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 390.31322237139625, + 126.21013921718381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 390.31322237139625, + 129.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 390.31322237139625, + 132.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.31322237139625, + 135.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 390.31322237139625, + 138.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 390.31322237139625, + 141.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 390.31322237139625, + 144.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 390.31322237139625, + 147.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 390.31322237139625, + 150.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 390.31322237139625, + 153.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 390.31322237139625, + 156.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 390.31322237139625, + 159.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 390.31322237139625, + 162.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.31322237139625, + 165.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 390.31322237139625, + 168.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 390.31322237139625, + 171.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 390.31322237139625, + 174.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 390.31322237139625, + 177.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 390.31322237139625, + 180.2101392171838, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 390.31322237139625, + 180.2101392171838, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 390.31322237139625, + 180.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 387.71514616004293, + 181.7101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 385.1170699486896, + 183.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 382.5189937373363, + 184.7101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 379.920917525983, + 186.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 377.32284131462967, + 187.7101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 374.72476510327635, + 189.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 372.12668889192304, + 190.7101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 369.5286126805697, + 192.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 366.9305364692164, + 193.7101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 364.3324602578631, + 195.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 361.7343840465098, + 196.7101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 359.13630783515646, + 198.2101392171838, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 359.13630783515646, + 198.2101392171838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 357.63630783515646, + 200.80821542853712, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 356.13630783515646, + 203.40629163989044, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 354.63630783515646, + 206.00436785124376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 353.13630783515646, + 208.60244406259707, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 351.63630783515646, + 211.2005202739504, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 350.13630783515646, + 213.7985964853037, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 348.63630783515646, + 216.39667269665702, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 347.13630783515646, + 218.99474890801034, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 345.63630783515646, + 221.59282511936365, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 344.13630783515646, + 224.19090133071697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 342.63630783515646, + 226.78897754207028, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 341.13630783515646, + 229.3870537534236, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 339.63630783515646, + 231.98512996477692, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 338.13630783515646, + 234.58320617613023, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 336.63630783515646, + 237.18128238748355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 335.13630783515646, + 239.77935859883686, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 276.0, + 64.2459 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-14-23_1409959708/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-14-23_1409959708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4f6578cd8fa519c774f87f7c16fe8a9a8d9cd44 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-14-23_1409959708/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1717.7987717239914, + 437.38947205016285, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1719.2987717239914, + 434.79139583880954, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1720.7987717239914, + 432.1933196274562, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1722.2987717239914, + 429.5952434161029, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1723.7987717239914, + 426.9971672047496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1725.2987717239914, + 424.39909099339627, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1726.7987717239914, + 421.80101478204296, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1728.2987717239914, + 419.20293857068964, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1729.7987717239914, + 416.6048623593363, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1731.2987717239914, + 414.006786147983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1732.7987717239914, + 411.4087099366297, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1734.2987717239914, + 408.8106337252764, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1735.7987717239914, + 406.21255751392306, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1737.2987717239914, + 403.61448130256974, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1738.7987717239914, + 401.0164050912164, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1740.2987717239914, + 398.4183288798631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1741.7987717239914, + 395.8202526685098, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1743.2987717239914, + 393.2221764571565, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1744.7987717239914, + 390.62410024580316, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1746.2987717239914, + 388.02602403444985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1747.7987717239914, + 385.42794782309653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1749.2987717239914, + 382.8298716117432, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1750.7987717239914, + 380.2317954003899, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1752.2987717239914, + 377.6337191890366, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1753.7987717239914, + 375.03564297768327, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1753.7987717239914, + 375.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1753.7987717239914, + 372.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1753.7987717239914, + 369.03564297768327, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1753.7987717239914, + 369.03564297768327, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1753.7987717239914, + 369.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1756.3968479353448, + 367.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1758.9949241466982, + 366.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1761.5930003580515, + 364.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1764.191076569405, + 363.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1766.7891527807583, + 361.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1769.3872289921117, + 360.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1771.985305203465, + 358.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1774.5833814148184, + 357.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1777.1814576261718, + 355.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1779.7795338375252, + 354.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1782.3776100488785, + 352.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1784.975686260232, + 351.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1787.5737624715853, + 349.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1790.1718386829386, + 348.03564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1792.769914894292, + 346.53564297768327, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1792.769914894292, + 346.53564297768327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1794.269914894292, + 343.93756676632995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1795.769914894292, + 341.33949055497663, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1797.269914894292, + 338.7414143436233, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1798.769914894292, + 336.14333813227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1800.269914894292, + 333.5452619209167, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1801.769914894292, + 330.94718570956337, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1803.269914894292, + 328.34910949821005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1804.769914894292, + 325.75103328685674, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1806.269914894292, + 323.1529570755034, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1807.769914894292, + 320.5548808641501, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1809.269914894292, + 317.9568046527968, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-15-18_1373226340/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-15-18_1373226340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c3eb2426645da1a2927c97c96b9d9d8d8713514 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-15-18_1373226340/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 442.3059235037897, + 337.7990458453452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 440.8059235037897, + 340.3971220566985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.3059235037897, + 342.9951982680518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.8059235037897, + 345.5932744794051, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 436.3059235037897, + 348.19135069075844, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 434.8059235037897, + 350.78942690211176, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 433.3059235037897, + 353.3875031134651, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 433.3059235037897, + 353.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 430.7078472924364, + 354.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 428.10977108108307, + 356.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.51169486972975, + 357.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 422.91361865837644, + 359.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 420.3155424470231, + 360.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 417.7174662356698, + 362.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 415.1193900243165, + 363.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 412.52131381296317, + 365.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 409.92323760160986, + 366.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 407.32516139025654, + 368.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 404.7270851789032, + 369.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 402.1290089675499, + 371.3875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 399.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 399.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 396.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 393.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 390.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 390.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 390.5309327561966, + 372.8875031134651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 389.0309327561966, + 375.4855793248184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 387.5309327561966, + 378.0836555361717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 386.0309327561966, + 380.681731747525, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 384.5309327561966, + 383.27980795887834, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 383.0309327561966, + 385.87788417023165, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 381.5309327561966, + 388.47596038158497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 380.0309327561966, + 391.0740365929383, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 378.5309327561966, + 393.6721128042916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 377.0309327561966, + 396.2701890156449, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 375.5309327561966, + 398.86826522699823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 374.0309327561966, + 401.46634143835155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 372.5309327561966, + 404.06441764970486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 371.0309327561966, + 406.6624938610582, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 369.5309327561966, + 409.2605700724115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 368.0309327561966, + 411.8586462837648, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 366.5309327561966, + 414.45672249511813, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 365.0309327561966, + 417.05479870647144, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 363.5309327561966, + 419.65287491782476, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 362.0309327561966, + 422.2509511291781, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 360.5309327561966, + 424.8490273405314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 359.0309327561966, + 427.4471035518847, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 359.0309327561966, + 427.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 359.0309327561966, + 430.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 359.0309327561966, + 433.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 359.0309327561966, + 436.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 359.0309327561966, + 439.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 359.0309327561966, + 442.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 359.0309327561966, + 445.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 359.0309327561966, + 448.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 359.0309327561966, + 451.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 359.0309327561966, + 454.4471035518847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 359.0309327561966, + 457.4471035518847, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 484.0, + -1.13109 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-17-33_168002245/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-17-33_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4be3bb208702ef272bf504496513ff8d055ae978 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-17-33_168002245/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 768.0037998332128, + 244.7322903889276, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 766.5037998332128, + 247.3303666002809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 765.0037998332128, + 249.92844281163423, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 763.5037998332128, + 252.52651902298754, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 762.0037998332128, + 255.12459523434086, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 760.5037998332128, + 257.7226714456942, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 759.0037998332128, + 260.3207476570475, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 757.5037998332128, + 262.9188238684008, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 756.0037998332128, + 265.5169000797541, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 754.5037998332128, + 268.11497629110744, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 753.0037998332128, + 270.71305250246076, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 751.5037998332128, + 273.31112871381407, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 750.0037998332128, + 275.9092049251674, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 748.5037998332128, + 278.5072811365207, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 747.0037998332128, + 281.105357347874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 745.5037998332128, + 283.70343355922734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 744.0037998332128, + 286.30150977058065, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 742.5037998332128, + 288.89958598193397, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 741.0037998332128, + 291.4976621932873, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 739.5037998332128, + 294.0957384046406, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 738.0037998332128, + 296.6938146159939, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 736.5037998332128, + 299.29189082734723, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 735.0037998332128, + 301.88996703870055, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 733.5037998332128, + 304.48804325005386, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 732.0037998332128, + 307.0861194614072, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 730.5037998332128, + 309.6841956727605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 729.0037998332128, + 312.2822718841138, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 727.5037998332128, + 314.8803480954671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 726.0037998332128, + 317.47842430682044, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 724.5037998332128, + 320.07650051817376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 723.0037998332128, + 322.6745767295271, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 721.5037998332128, + 325.2726529408804, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 720.0037998332128, + 327.8707291522337, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 718.5037998332128, + 330.468805363587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 717.0037998332128, + 333.06688157494034, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 715.5037998332128, + 335.66495778629366, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 714.0037998332128, + 338.26303399764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 712.5037998332128, + 340.8611102090003, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 711.0037998332128, + 343.4591864203536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 709.5037998332128, + 346.0572626317069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 708.0037998332128, + 348.65533884306024, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 708.0037998332128, + 348.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 708.0037998332128, + 351.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 708.0037998332128, + 354.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 708.0037998332128, + 357.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 708.0037998332128, + 360.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 708.0037998332128, + 363.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 708.0037998332128, + 366.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 708.0037998332128, + 369.65533884306024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 708.0037998332128, + 372.65533884306024, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 400.0, + -0.375042 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-20-53_111537764/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-20-53_111537764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dedfbb061ba8077ac04c12a4da035d97fe5d483e --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-20-53_111537764/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1224.7147140556215, + 311.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1222.116637844268, + 310.49545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1219.5185616329147, + 308.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1216.9204854215614, + 307.49545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1214.322409210208, + 305.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1211.7243329988546, + 304.49545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1209.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1209.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1206.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1203.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1200.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1197.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1194.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1191.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1188.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1185.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1182.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1179.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1179.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1179.1262567875012, + 302.99545194194496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1177.6262567875012, + 300.39737573059165, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1176.1262567875012, + 297.79929951923833, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1174.6262567875012, + 295.201223307885, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1173.1262567875012, + 292.6031470965317, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1171.6262567875012, + 290.0050708851784, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1171.6262567875012, + 290.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1169.0281805761479, + 288.5050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1166.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1166.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1163.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1160.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1157.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1154.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1151.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1148.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1145.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1142.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1139.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1136.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1133.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1130.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1127.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1124.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1121.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1118.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1115.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1112.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1109.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1106.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1103.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1100.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1097.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1094.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1091.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1088.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1085.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1082.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1079.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1076.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1073.4301043647945, + 287.0050708851784, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 284.0, + -0.375382 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-25-11_8936987/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-25-11_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1610c62d74d6f95e33499284bd10d32305636288 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-25-11_8936987/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 787.1020866258339, + -102.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 789.7001628371872, + -100.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 792.2982390485406, + -99.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 794.896315259894, + -97.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 797.4943914712474, + -96.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 800.0924676826007, + -94.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 802.6905438939541, + -93.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 805.2886201053075, + -91.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 807.8866963166608, + -90.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 810.4847725280142, + -88.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 813.0828487393676, + -87.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 815.680924950721, + -85.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 818.2790011620743, + -84.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 820.8770773734277, + -82.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 823.4751535847811, + -81.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 826.0732297961345, + -79.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 828.6713060074878, + -78.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 831.2693822188412, + -76.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 833.8674584301946, + -75.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 836.465534641548, + -73.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 839.0636108529013, + -72.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 841.6616870642547, + -70.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 844.2597632756081, + -69.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 846.8578394869614, + -67.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 849.4559156983148, + -66.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 852.0539919096682, + -64.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 854.6520681210216, + -63.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 857.2501443323749, + -61.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 859.8482205437283, + -60.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 862.4462967550817, + -58.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 865.044372966435, + -57.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 867.6424491777884, + -55.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 870.2405253891418, + -54.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 872.8386016004952, + -52.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 875.4366778118485, + -51.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 878.0347540232019, + -49.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 880.6328302345553, + -48.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 883.2309064459087, + -46.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 885.828982657262, + -45.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 888.4270588686154, + -43.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 891.0251350799688, + -42.37658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 893.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 893.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 896.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 899.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 902.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 905.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 908.6232112913221, + -40.87658401177107, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 928.0, + -32.0, + 19.9495 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-35-18_1605894428/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-35-18_1605894428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f29554b5b1ccf2fd4b89f31b66a71a960e35d85 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-35-18_1605894428/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1337.4799317005213, + 791.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1340.0780079118747, + 789.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1342.676084123228, + 788.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1345.2741603345814, + 786.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1347.8722365459348, + 785.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1350.4703127572882, + 783.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1353.0683889686416, + 782.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1355.666465179995, + 780.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1358.2645413913483, + 779.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1360.8626176027017, + 777.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1363.460693814055, + 776.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1366.0587700254084, + 774.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1368.6568462367618, + 773.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1371.2549224481152, + 771.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1373.8529986594685, + 770.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1376.451074870822, + 768.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1379.0491510821753, + 767.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1381.6472272935287, + 765.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1384.245303504882, + 764.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1386.8433797162354, + 762.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1389.4414559275888, + 761.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1392.0395321389421, + 759.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1394.6376083502955, + 758.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1397.235684561649, + 756.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1399.8337607730023, + 755.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1402.4318369843556, + 753.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1405.029913195709, + 752.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1407.6279894070624, + 750.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1410.2260656184158, + 749.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1412.8241418297691, + 747.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1415.4222180411225, + 746.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1418.0202942524759, + 744.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1420.6183704638293, + 743.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1423.2164466751826, + 741.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1425.814522886536, + 740.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1428.4125990978894, + 738.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1431.0106753092427, + 737.1067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1433.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1433.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1436.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1439.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1442.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1445.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1448.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1451.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1454.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1457.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1460.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1463.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1466.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1469.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1472.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1475.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1478.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1481.6087515205961, + 735.6067110531928, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-39-14_2112255763/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-39-14_2112255763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfcef0f2de42390a6bc6f6ca7b21ec60833ef5b9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-39-14_2112255763/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 820.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 823.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 826.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 829.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 832.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 832.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 832.9109967502432, + 351.7132507948222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 834.4109967502432, + 354.31132700617553, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 835.9109967502432, + 356.90940321752885, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 837.4109967502432, + 359.50747942888216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 838.9109967502432, + 362.1055556402355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 840.4109967502432, + 364.7036318515888, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 841.9109967502432, + 367.3017080629421, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 843.4109967502432, + 369.8997842742954, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 844.9109967502432, + 372.49786048564874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 846.4109967502432, + 375.09593669700206, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 847.9109967502432, + 377.6940129083554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 849.4109967502432, + 380.2920891197087, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 850.9109967502432, + 382.890165331062, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 852.4109967502432, + 385.4882415424153, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 853.9109967502432, + 388.08631775376864, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 855.4109967502432, + 390.68439396512196, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 856.9109967502432, + 393.2824701764753, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 858.4109967502432, + 395.8805463878286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 859.9109967502432, + 398.4786225991819, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 861.4109967502432, + 401.0766988105352, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 862.9109967502432, + 403.67477502188854, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 864.4109967502432, + 406.27285123324185, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 864.4109967502432, + 406.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 867.0090729615965, + 407.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 869.6071491729499, + 409.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 872.2052253843033, + 410.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 874.8033015956566, + 412.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 877.40137780701, + 413.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 879.9994540183634, + 415.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 882.5975302297168, + 416.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 885.1956064410701, + 418.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 887.7936826524235, + 419.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 890.3917588637769, + 421.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 892.9898350751303, + 422.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 895.5879112864836, + 424.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 898.185987497837, + 425.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 900.7840637091904, + 427.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 903.3821399205438, + 428.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 905.9802161318971, + 430.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 908.5782923432505, + 431.77285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 911.1763685546039, + 433.27285123324185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 913.7744447659572, + 434.77285123324185, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-47-29_1096689772/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-47-29_1096689772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..593e3fa5b5a797d8ce8692ccbd696b734c17c5bf --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-47-29_1096689772/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1963.4718562125277, + 489.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1963.4718562125277, + 486.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1963.4718562125277, + 483.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1963.4718562125277, + 480.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1963.4718562125277, + 477.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1963.4718562125277, + 474.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1963.4718562125277, + 471.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1963.4718562125277, + 468.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1963.4718562125277, + 465.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1963.4718562125277, + 462.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1963.4718562125277, + 459.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1963.4718562125277, + 456.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1963.4718562125277, + 453.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1963.4718562125277, + 450.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1963.4718562125277, + 447.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1963.4718562125277, + 444.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1963.4718562125277, + 441.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1963.4718562125277, + 438.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1963.4718562125277, + 435.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1963.4718562125277, + 432.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1963.4718562125277, + 429.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1963.4718562125277, + 426.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1963.4718562125277, + 423.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1963.4718562125277, + 420.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1963.4718562125277, + 417.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1963.4718562125277, + 414.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1963.4718562125277, + 411.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1963.4718562125277, + 408.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1963.4718562125277, + 405.60305441636405, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1963.4718562125277, + 405.60305441636405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1964.9718562125277, + 403.00497820501073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1966.4718562125277, + 400.4069019936574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1967.9718562125277, + 397.8088257823041, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1969.4718562125277, + 395.2107495709508, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1970.9718562125277, + 392.61267335959747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1972.4718562125277, + 390.01459714824415, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1973.9718562125277, + 387.41652093689083, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1975.4718562125277, + 384.8184447255375, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1976.9718562125277, + 382.2203685141842, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1978.4718562125277, + 379.6222923028309, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1979.9718562125277, + 377.02421609147757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1981.4718562125277, + 374.42613988012425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1982.9718562125277, + 371.82806366877094, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1984.4718562125277, + 369.2299874574176, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-52-26_1820388464/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-52-26_1820388464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c6fde7aebc59d0e58b6773ca32f09c165ab25c1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-52-26_1820388464/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 924.1363486598323, + 812.619487945062, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 925.6363486598323, + 810.0214117337086, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 927.1363486598323, + 807.4233355223553, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 928.6363486598323, + 804.8252593110019, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 930.1363486598323, + 802.2271830996485, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 931.6363486598323, + 799.6291068882952, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 933.1363486598323, + 797.0310306769418, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 933.1363486598323, + 797.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 933.1363486598323, + 794.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 933.1363486598323, + 791.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 933.1363486598323, + 788.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 933.1363486598323, + 785.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 933.1363486598323, + 782.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 933.1363486598323, + 779.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 933.1363486598323, + 776.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 933.1363486598323, + 773.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 933.1363486598323, + 770.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 933.1363486598323, + 767.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 933.1363486598323, + 764.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 933.1363486598323, + 761.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 933.1363486598323, + 758.0310306769418, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 933.1363486598323, + 758.0310306769418, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 933.1363486598323, + 758.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 935.7344248711856, + 756.5310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 938.332501082539, + 755.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 940.9305772938924, + 753.5310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 943.5286535052458, + 752.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 946.1267297165991, + 750.5310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 948.7248059279525, + 749.0310306769418, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 948.7248059279525, + 749.0310306769418, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 948.7248059279525, + 749.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 948.7248059279525, + 746.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 948.7248059279525, + 743.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 948.7248059279525, + 740.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 948.7248059279525, + 737.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 948.7248059279525, + 734.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 948.7248059279525, + 731.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 948.7248059279525, + 728.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 948.7248059279525, + 725.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 948.7248059279525, + 722.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 948.7248059279525, + 719.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 948.7248059279525, + 716.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 948.7248059279525, + 713.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 948.7248059279525, + 710.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 948.7248059279525, + 707.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 948.7248059279525, + 704.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 948.7248059279525, + 701.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 948.7248059279525, + 698.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 948.7248059279525, + 695.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 948.7248059279525, + 692.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 948.7248059279525, + 689.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 948.7248059279525, + 686.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 948.7248059279525, + 683.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 948.7248059279525, + 680.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 948.7248059279525, + 677.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 948.7248059279525, + 674.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 948.7248059279525, + 671.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 948.7248059279525, + 668.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 948.7248059279525, + 665.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 948.7248059279525, + 662.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 948.7248059279525, + 659.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 948.7248059279525, + 656.0310306769418, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 948.7248059279525, + 653.0310306769418, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 636.0, + 0.96873 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-53-54_740759355/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-53-54_740759355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54d2dbf1ac8690fada0eddf8fe16e58d7d4e0c3d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-53-54_740759355/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1954.9406259966167, + 704.5844689029432, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1953.4406259966167, + 707.1825451142965, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1951.9406259966167, + 709.7806213256499, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1950.4406259966167, + 712.3786975370033, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1950.4406259966167, + 712.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1947.8425497852634, + 713.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1945.24447357391, + 715.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1942.6463973625566, + 716.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1940.0483211512033, + 718.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1937.4502449398499, + 719.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1934.8521687284965, + 721.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1932.2540925171431, + 722.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1929.6560163057898, + 724.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1927.0579400944364, + 725.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1924.459863883083, + 727.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1921.8617876717296, + 728.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1919.2637114603763, + 730.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1916.665635249023, + 731.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1914.0675590376695, + 733.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1911.4694828263162, + 734.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1908.8714066149628, + 736.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1906.2733304036094, + 737.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1903.675254192256, + 739.3786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1901.0771779809027, + 740.8786975370033, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1901.0771779809027, + 740.8786975370033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1899.5771779809027, + 743.4767737483567, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1898.0771779809027, + 746.07484995971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1896.5771779809027, + 748.6729261710634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1895.0771779809027, + 751.2710023824168, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1893.5771779809027, + 753.8690785937702, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1892.0771779809027, + 756.4671548051235, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1890.5771779809027, + 759.0652310164769, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1889.0771779809027, + 761.6633072278303, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1887.5771779809027, + 764.2613834391836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1886.0771779809027, + 766.859459650537, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1884.5771779809027, + 769.4575358618904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1883.0771779809027, + 772.0556120732438, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1881.5771779809027, + 774.6536882845971, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1881.5771779809027, + 774.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1881.5771779809027, + 777.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1881.5771779809027, + 780.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1881.5771779809027, + 783.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1881.5771779809027, + 786.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1881.5771779809027, + 789.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1881.5771779809027, + 792.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1881.5771779809027, + 795.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1881.5771779809027, + 798.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1881.5771779809027, + 801.6536882845971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1881.5771779809027, + 804.6536882845971, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1856.0, + 840.0, + -10.4725 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-58-27_1335354340/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-58-27_1335354340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261073c84ca96e4a9485c3219c0922ed9042c03d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-58-27_1335354340/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 825.8207864680893, + 41.822544141712726, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 824.3207864680893, + 39.22446793035941, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 822.8207864680893, + 36.626391719006094, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 821.3207864680893, + 34.02831550765278, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 819.8207864680893, + 31.43023929629946, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 818.3207864680893, + 28.832163084946146, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 818.3207864680893, + 28.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 815.722710256736, + 27.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 813.1246340453827, + 25.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 810.5265578340293, + 24.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 807.9284816226759, + 22.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 805.3304054113225, + 21.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 802.7323291999692, + 19.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 800.1342529886158, + 18.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 797.5361767772624, + 16.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 794.938100565909, + 15.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 792.3400243545557, + 13.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 789.7419481432023, + 12.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 787.1438719318489, + 10.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 784.5457957204956, + 9.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 781.9477195091422, + 7.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 779.3496432977888, + 6.332163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 776.7515670864354, + 4.832163084946146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 774.1534908750821, + 3.3321630849461457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 771.5554146637287, + 1.8321630849461459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 768.9573384523753, + 0.3321630849461461, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 766.359262241022, + -1.1678369150538537, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 763.7611860296686, + -2.6678369150538535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 761.1631098183152, + -4.1678369150538535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 758.5650336069618, + -5.6678369150538535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 755.9669573956085, + -7.1678369150538535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 753.3688811842551, + -8.667836915053853, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 750.7708049729017, + -10.167836915053853, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 748.1727287615483, + -11.667836915053853, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 745.574652550195, + -13.167836915053853, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 742.9765763388416, + -14.667836915053853, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 740.3785001274882, + -16.16783691505385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 737.7804239161349, + -17.66783691505385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 735.1823477047815, + -19.16783691505385, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 735.1823477047815, + -19.16783691505385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 733.6823477047815, + -21.765913126407167, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 732.1823477047815, + -24.363989337760483, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 730.6823477047815, + -26.9620655491138, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 729.1823477047815, + -29.560141760467115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 727.6823477047815, + -32.158217971820434, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393195 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 726.1823477047815, + -34.75629418317375, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 724.6823477047815, + -37.354370394527066, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 724.6823477047815, + -37.354370394527066, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 724.6823477047815, + -40.354370394527066, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 724.6823477047815, + -43.354370394527066, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 724.6823477047815, + -46.354370394527066, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 724.6823477047815, + -49.354370394527066, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-59-45_1494613810/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-59-45_1494613810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc3e71403ec0b25eef3f142a863a855a7bbfaf6d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_21-59-45_1494613810/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1930.0262634186986, + 699.8889626769947, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1928.5262634186986, + 702.487038888348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1927.0262634186986, + 705.0851150997014, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1925.5262634186986, + 707.6831913110548, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1924.0262634186986, + 710.2812675224081, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1922.5262634186986, + 712.8793437337615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1921.0262634186986, + 715.4774199451149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1919.5262634186986, + 718.0754961564683, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1918.0262634186986, + 720.6735723678216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1916.5262634186986, + 723.271648579175, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1915.0262634186986, + 725.8697247905284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1913.5262634186986, + 728.4678010018818, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1912.0262634186986, + 731.0658772132351, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1910.5262634186986, + 733.6639534245885, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1909.0262634186986, + 736.2620296359419, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1907.5262634186986, + 738.8601058472952, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1906.0262634186986, + 741.4581820586486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1904.5262634186986, + 744.056258270002, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1903.0262634186986, + 746.6543344813554, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1903.0262634186986, + 746.6543344813554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1900.4281872073452, + 748.1543344813554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1897.8301109959918, + 749.6543344813554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1895.2320347846385, + 751.1543344813554, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1895.2320347846385, + 751.1543344813554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1893.7320347846385, + 753.7524106927087, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1892.2320347846385, + 756.3504869040621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1890.7320347846385, + 758.9485631154155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1889.2320347846385, + 761.5466393267689, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1887.7320347846385, + 764.1447155381222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1886.2320347846385, + 766.7427917494756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1884.7320347846385, + 769.340867960829, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1883.2320347846385, + 771.9389441721823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1881.7320347846385, + 774.5370203835357, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1880.2320347846385, + 777.1350965948891, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1878.7320347846385, + 779.7331728062425, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1878.7320347846385, + 779.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1878.7320347846385, + 782.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1878.7320347846385, + 785.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1878.7320347846385, + 788.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1878.7320347846385, + 791.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1878.7320347846385, + 794.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1878.7320347846385, + 797.7331728062425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1878.7320347846385, + 800.7331728062425, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1856.0, + 840.0, + -10.4725 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-14-12_1776808933/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-14-12_1776808933/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3344df8eb10dd096336ed513c4b191a724755f77 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-14-12_1776808933/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1738.3160277708475, + 430.1084301480575, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1739.8160277708475, + 427.5103539367042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1741.3160277708475, + 424.91227772535086, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1742.8160277708475, + 422.31420151399755, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1744.3160277708475, + 419.71612530264423, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1745.8160277708475, + 417.1180490912909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1747.3160277708475, + 414.5199728799376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1748.8160277708475, + 411.9218966685843, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1750.3160277708475, + 409.32382045723097, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1751.8160277708475, + 406.72574424587765, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1753.3160277708475, + 404.12766803452433, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1753.3160277708475, + 404.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1753.3160277708475, + 401.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1753.3160277708475, + 398.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1753.3160277708475, + 395.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1753.3160277708475, + 392.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1753.3160277708475, + 389.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1753.3160277708475, + 386.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1753.3160277708475, + 383.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1753.3160277708475, + 380.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1753.3160277708475, + 377.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1753.3160277708475, + 374.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1753.3160277708475, + 371.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1753.3160277708475, + 368.12766803452433, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1753.3160277708475, + 368.12766803452433, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1753.3160277708475, + 368.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1755.914103982201, + 366.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1758.5121801935543, + 365.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1761.1102564049077, + 363.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1763.708332616261, + 362.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1766.3064088276144, + 360.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1768.9044850389678, + 359.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1771.5025612503212, + 357.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1774.1006374616745, + 356.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1776.698713673028, + 354.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1779.2967898843813, + 353.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1781.8948660957346, + 351.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1784.492942307088, + 350.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1787.0910185184414, + 348.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1789.6890947297948, + 347.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1792.2871709411481, + 345.62766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1794.8852471525015, + 344.12766803452433, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1794.8852471525015, + 344.12766803452433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1796.3852471525015, + 341.529591823171, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1797.8852471525015, + 338.9315156118177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1799.3852471525015, + 336.3334394004644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1800.8852471525015, + 333.73536318911107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1802.3852471525015, + 331.13728697775775, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1803.8852471525015, + 328.53921076640444, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1805.3852471525015, + 325.9411345550511, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1806.8852471525015, + 323.3430583436978, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1808.3852471525015, + 320.7449821323445, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-19-33_2025187190/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-19-33_2025187190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3481538319179dedefa878ca31433508e3d3dee9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-19-33_2025187190/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1352.0529015341228, + 249.05201139891375, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1350.5529015341228, + 246.45393518756043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1349.0529015341228, + 243.85585897620712, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1347.5529015341228, + 241.2577827648538, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1346.0529015341228, + 238.65970655350048, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1344.5529015341228, + 236.06163034214717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1343.0529015341228, + 233.46355413079385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1341.5529015341228, + 230.86547791944054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1340.0529015341228, + 228.26740170808722, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1338.5529015341228, + 225.6693254967339, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1337.0529015341228, + 223.0712492853806, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1335.5529015341228, + 220.47317307402727, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1334.0529015341228, + 217.87509686267396, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1332.5529015341228, + 215.27702065132064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1331.0529015341228, + 212.67894443996732, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1329.5529015341228, + 210.080868228614, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1328.0529015341228, + 207.4827920172607, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1328.0529015341228, + 207.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1328.0529015341228, + 204.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1328.0529015341228, + 201.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1328.0529015341228, + 198.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1328.0529015341228, + 195.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1328.0529015341228, + 192.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1328.0529015341228, + 189.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1328.0529015341228, + 186.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1328.0529015341228, + 183.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1328.0529015341228, + 180.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1328.0529015341228, + 177.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1328.0529015341228, + 174.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1328.0529015341228, + 171.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1328.0529015341228, + 168.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1328.0529015341228, + 165.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1328.0529015341228, + 162.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1328.0529015341228, + 159.4827920172607, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1328.0529015341228, + 159.4827920172607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1326.5529015341228, + 156.88471580590738, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1308.0, + 96.0, + 1.05541 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-23-19_1876855542/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-23-19_1876855542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..beb57ab2a2d0ed7299d0bdea1bc8ffc8716cbf3c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-23-19_1876855542/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1959.2863393562075, + 480.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1959.2863393562075, + 477.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1959.2863393562075, + 474.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1959.2863393562075, + 471.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1959.2863393562075, + 468.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1959.2863393562075, + 465.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1959.2863393562075, + 462.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1959.2863393562075, + 459.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1959.2863393562075, + 456.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1959.2863393562075, + 453.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1959.2863393562075, + 450.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1959.2863393562075, + 447.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1959.2863393562075, + 444.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1959.2863393562075, + 441.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1959.2863393562075, + 438.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1959.2863393562075, + 435.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1959.2863393562075, + 432.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1959.2863393562075, + 429.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1959.2863393562075, + 426.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1959.2863393562075, + 423.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1959.2863393562075, + 420.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1959.2863393562075, + 417.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1959.2863393562075, + 414.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1959.2863393562075, + 411.82763678376466, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1959.2863393562075, + 411.82763678376466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1960.7863393562075, + 409.22956057241134, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1962.2863393562075, + 406.631484361058, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1963.7863393562075, + 404.0334081497047, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1965.2863393562075, + 401.4353319383514, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1966.7863393562075, + 398.8372557269981, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1968.2863393562075, + 396.23917951564476, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1969.7863393562075, + 393.64110330429145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1971.2863393562075, + 391.04302709293813, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1972.7863393562075, + 388.4449508815848, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1974.2863393562075, + 385.8468746702315, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1975.7863393562075, + 383.2487984588782, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1977.2863393562075, + 380.65072224752487, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1978.7863393562075, + 378.05264603617155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1980.2863393562075, + 375.45456982481824, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1981.7863393562075, + 372.8564936134649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1983.2863393562075, + 370.2584174021116, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1984.7863393562075, + 367.6603411907583, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-32-18_1295166342/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-32-18_1295166342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc7efc4e25945a0351661d6cc3bc52b4b5acbcfe --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-32-18_1295166342/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1950.1316791267868, + 395.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1947.5336029154334, + 393.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1944.93552670408, + 392.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1942.3374504927267, + 390.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1939.7393742813733, + 389.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1937.14129807002, + 387.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1934.5432218586666, + 386.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1931.9451456473132, + 384.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1929.3470694359598, + 383.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1926.7489932246065, + 381.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1924.150917013253, + 380.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1921.5528408018997, + 378.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1918.9547645905463, + 377.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1916.356688379193, + 375.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1913.7586121678396, + 374.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1911.1605359564862, + 372.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1908.5624597451329, + 371.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1905.9643835337795, + 369.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1903.366307322426, + 368.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1900.7682311110727, + 366.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1898.1701548997194, + 365.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1895.572078688366, + 363.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1892.9740024770126, + 362.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1890.3759262656592, + 360.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1887.7778500543059, + 359.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1885.1797738429525, + 357.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1882.5816976315991, + 356.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1879.9836214202458, + 354.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1877.3855452088924, + 353.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1874.787468997539, + 351.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1872.1893927861856, + 350.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1869.5913165748323, + 348.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1866.993240363479, + 347.18522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1864.3951641521255, + 345.68522336130064, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1864.3951641521255, + 345.68522336130064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1862.8951641521255, + 343.0871471499473, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1861.3951641521255, + 340.489070938594, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1859.8951641521255, + 337.8909947272407, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1858.3951641521255, + 335.2929185158874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1856.8951641521255, + 332.69484230453406, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1855.3951641521255, + 330.09676609318075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1853.8951641521255, + 327.49868988182743, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1852.3951641521255, + 324.9006136704741, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1850.8951641521255, + 322.3025374591208, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1849.3951641521255, + 319.7044612477675, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1847.8951641521255, + 317.10638503641417, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1847.8951641521255, + 317.10638503641417, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1845.2970879407721, + 315.60638503641417, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-40-40_846811127/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-40-40_846811127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..783b116ba322eb726f85561988503d30da80ebd4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-40-40_846811127/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1703.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1706.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1709.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1712.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1715.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1718.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1721.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1724.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1727.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1730.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1733.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1736.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1739.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1742.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1745.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1748.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1751.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1754.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1757.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1760.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1763.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1766.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1769.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1772.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1775.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1775.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1775.9896971057822, + 609.5987323246668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1777.4896971057822, + 612.1968085360202, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1778.9896971057822, + 614.7948847473735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1780.4896971057822, + 617.3929609587269, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1781.9896971057822, + 619.9910371700803, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1783.4896971057822, + 622.5891133814337, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1784.9896971057822, + 625.187189592787, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1786.4896971057822, + 627.7852658041404, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1786.4896971057822, + 627.7852658041404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1789.0877733171355, + 629.2852658041404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1791.685849528489, + 630.7852658041404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1794.2839257398423, + 632.2852658041404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1796.8820019511957, + 633.7852658041404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1799.480078162549, + 635.2852658041404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1802.0781543739024, + 636.7852658041404, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1848.0, + 652.0, + 1.28007 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-41-29_1307565984/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-41-29_1307565984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..736a494e72fe63725176d6932305b830c8015ae0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-41-29_1307565984/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1954.265884301364, + 711.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1954.265884301364, + 708.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1954.265884301364, + 705.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1954.265884301364, + 702.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1954.265884301364, + 699.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1954.265884301364, + 696.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1954.265884301364, + 693.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1954.265884301364, + 690.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1954.265884301364, + 687.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1954.265884301364, + 684.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1954.265884301364, + 681.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1954.265884301364, + 678.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1954.265884301364, + 675.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1954.265884301364, + 672.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1954.265884301364, + 669.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1954.265884301364, + 666.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1954.265884301364, + 663.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1954.265884301364, + 660.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1954.265884301364, + 657.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1954.265884301364, + 654.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1954.265884301364, + 651.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1954.265884301364, + 648.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1954.265884301364, + 645.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1954.265884301364, + 642.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1954.265884301364, + 639.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1954.265884301364, + 636.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1954.265884301364, + 633.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1954.265884301364, + 630.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1954.265884301364, + 627.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1954.265884301364, + 624.4184275836042, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1954.265884301364, + 624.4184275836042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1955.765884301364, + 621.8203513722508, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1957.265884301364, + 619.2222751608974, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1958.765884301364, + 616.624198949544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1960.265884301364, + 614.0261227381907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1961.765884301364, + 611.4280465268373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1963.265884301364, + 608.8299703154839, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1964.765884301364, + 606.2318941041306, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1966.265884301364, + 603.6338178927772, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1967.765884301364, + 601.0357416814238, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1969.265884301364, + 598.4376654700704, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1970.765884301364, + 595.8395892587171, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1972.265884301364, + 593.2415130473637, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1973.765884301364, + 590.6434368360103, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1975.265884301364, + 588.045360624657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1976.765884301364, + 585.4472844133036, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1978.265884301364, + 582.8492082019502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1979.765884301364, + 580.2511319905968, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1981.265884301364, + 577.6530557792435, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1982.765884301364, + 575.0549795678901, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1984.265884301364, + 572.4569033565367, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1985.765884301364, + 569.8588271451833, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1987.265884301364, + 567.26075093383, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1987.265884301364, + 567.26075093383, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1987.265884301364, + 564.26075093383, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1987.265884301364, + 561.26075093383, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 540.0, + 0.927712 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-44-8_780821396/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-44-8_780821396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d0467feb05a936586efb209b287bbc0490968a1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-44-8_780821396/pose.jsonl @@ -0,0 +1,834 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 616.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 619.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 622.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 625.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 628.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 631.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 634.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 637.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 640.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 643.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 646.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 649.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 652.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 655.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 658.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 661.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 664.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 667.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 670.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 673.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 676.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 679.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 682.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 685.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 688.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 691.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 694.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 697.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 700.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 703.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 706.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 709.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 712.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 715.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 718.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 721.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 721.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 721.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 721.030958203221, + 51.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 721.030958203221, + 48.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 721.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 721.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 721.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 721.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 724.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 727.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 730.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 733.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 736.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 739.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 742.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 745.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 748.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 751.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 754.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 757.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 760.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 763.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 763.030958203221, + 45.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 765.6290344145743, + 47.44676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 768.2271106259277, + 48.94676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 770.8251868372811, + 50.44676936492757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 773.4232630486345, + 51.94676936492757, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 796.0, + 52.0, + 0.635089 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-46-49_1253207672/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-46-49_1253207672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4a675bf0364714a73bf16d3aa96d78e2a8d77a0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-46-49_1253207672/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1344.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1347.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1350.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1353.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1356.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1359.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1362.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1365.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1368.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1371.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1374.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1377.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1377.0483173012549, + 768.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1379.6463935126083, + 766.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1382.2444697239616, + 765.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1384.842545935315, + 763.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1387.4406221466684, + 762.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1390.0386983580217, + 760.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1392.6367745693751, + 759.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1395.2348507807285, + 757.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1397.8329269920819, + 756.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1400.4310032034352, + 754.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1403.0290794147886, + 753.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1405.627155626142, + 751.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1408.2252318374954, + 750.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1410.8233080488487, + 748.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1413.421384260202, + 747.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1416.0194604715555, + 745.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1418.6175366829088, + 744.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1421.2156128942622, + 742.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1423.8136891056156, + 741.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1426.411765316969, + 739.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1429.0098415283223, + 738.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1431.6079177396757, + 736.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1434.205993951029, + 735.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1436.8040701623825, + 733.5874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1439.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1439.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1442.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1445.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1451.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1454.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1457.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1460.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1463.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1466.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1469.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1472.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1475.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1478.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1481.4021463737358, + 732.0874379540223, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-5-1_1470503465/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-5-1_1470503465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93e9233e6f078672ab470b7b49095f78249be308 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-5-1_1470503465/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 216.44805033711623, + 192.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 219.04612654846954, + 191.26015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 221.64420275982286, + 189.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.24227897117618, + 188.26015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 226.8403551825295, + 186.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 229.4384313938828, + 185.26015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 232.03650760523612, + 183.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 234.63458381658944, + 182.26015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 237.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 237.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 240.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 243.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 246.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 249.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 252.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 255.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 255.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 255.23266002794276, + 180.76015966978747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 256.73266002794276, + 178.16208345843415, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.23266002794276, + 175.56400724708084, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 259.73266002794276, + 172.96593103572752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 261.23266002794276, + 170.3678548243742, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 262.73266002794276, + 167.7697786130209, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 264.23266002794276, + 165.17170240166757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 265.73266002794276, + 162.57362619031426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 267.23266002794276, + 159.97554997896094, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 268.73266002794276, + 157.37747376760763, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 270.23266002794276, + 154.7793975562543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 271.73266002794276, + 152.181321344901, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 273.23266002794276, + 149.58324513354768, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 274.73266002794276, + 146.98516892219436, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 276.23266002794276, + 144.38709271084105, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 277.73266002794276, + 141.78901649948773, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 279.23266002794276, + 139.1909402881344, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 280.73266002794276, + 136.5928640767811, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 282.23266002794276, + 133.99478786542778, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 283.73266002794276, + 131.39671165407447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 285.23266002794276, + 128.79863544272115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 286.73266002794276, + 126.20055923136783, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 288.23266002794276, + 123.60248302001452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 289.73266002794276, + 121.0044068086612, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 291.23266002794276, + 118.40633059730789, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 292.73266002794276, + 115.80825438595457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 294.23266002794276, + 113.21017817460125, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 295.73266002794276, + 110.61210196324794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 297.23266002794276, + 108.01402575189462, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 298.73266002794276, + 105.4159495405413, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 300.23266002794276, + 102.81787332918799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 301.73266002794276, + 100.21979711783467, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 301.73266002794276, + 100.21979711783467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 301.73266002794276, + 97.21979711783467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 301.73266002794276, + 94.21979711783467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 301.73266002794276, + 91.21979711783467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 301.73266002794276, + 88.21979711783467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 301.73266002794276, + 85.21979711783467, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 64.0, + -0.161909 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-53-11_700108581/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-53-11_700108581/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7c136892f8eeb94b30b3a3c12644f7981d89a5b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-53-11_700108581/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 321.844007938915, + 10.146766008892115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 323.344007938915, + 12.744842220245431, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 324.844007938915, + 15.342918431598747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 326.344007938915, + 17.940994642952063, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 327.844007938915, + 20.53907085430538, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 329.344007938915, + 23.137147065658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 330.844007938915, + 25.73522327701201, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 332.344007938915, + 28.333299488365327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 333.844007938915, + 30.931375699718643, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 335.344007938915, + 33.52945191107196, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 336.844007938915, + 36.127528122425275, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 338.344007938915, + 38.72560433377859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 339.844007938915, + 41.32368054513191, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 339.844007938915, + 41.32368054513191, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 339.844007938915, + 41.32368054513191, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 342.844007938915, + 41.32368054513191, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 342.844007938915, + 41.32368054513191, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 342.844007938915, + 41.32368054513191, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 344.344007938915, + 43.92175675648522, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 345.844007938915, + 46.51983296783854, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 347.344007938915, + 49.117909179191855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 348.844007938915, + 51.71598539054517, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 350.344007938915, + 54.31406160189849, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 351.844007938915, + 56.9121378132518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 353.344007938915, + 59.51021402460512, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 354.844007938915, + 62.108290235958435, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 356.344007938915, + 64.70636644731175, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 357.844007938915, + 67.30444265866507, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 357.844007938915, + 67.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 357.844007938915, + 70.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 357.844007938915, + 73.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 357.844007938915, + 76.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 357.844007938915, + 79.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 357.844007938915, + 82.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 357.844007938915, + 85.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 357.844007938915, + 88.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 357.844007938915, + 91.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 357.844007938915, + 94.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 357.844007938915, + 97.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 357.844007938915, + 100.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 357.844007938915, + 103.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 357.844007938915, + 106.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 357.844007938915, + 109.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 357.844007938915, + 112.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 357.844007938915, + 115.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 357.844007938915, + 118.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 357.844007938915, + 121.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 357.844007938915, + 124.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 357.844007938915, + 127.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 357.844007938915, + 130.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 357.844007938915, + 133.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 357.844007938915, + 136.30444265866507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 357.844007938915, + 139.30444265866507, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-7-10_559412924/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-7-10_559412924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bbdfe43728b01d6e654631799ff8681205adf48 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_22-7-10_559412924/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1580.776625832501, + -191.97377389831547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1579.276625832501, + -189.37569768696216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1577.776625832501, + -186.77762147560884, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1576.276625832501, + -184.17954526425552, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1574.776625832501, + -181.5814690529022, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1574.776625832501, + -181.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1574.776625832501, + -178.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1574.776625832501, + -175.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1574.776625832501, + -172.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1574.776625832501, + -169.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1574.776625832501, + -166.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1574.776625832501, + -163.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1574.776625832501, + -160.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1574.776625832501, + -157.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1574.776625832501, + -154.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1574.776625832501, + -151.5814690529022, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1574.776625832501, + -151.5814690529022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1573.276625832501, + -148.9833928415489, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1571.776625832501, + -146.38531663019558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1570.276625832501, + -143.78724041884226, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1568.776625832501, + -141.18916420748894, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1567.276625832501, + -138.59108799613563, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1565.776625832501, + -135.9930117847823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1564.276625832501, + -133.394935573429, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1562.776625832501, + -130.79685936207568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1561.276625832501, + -128.19878315072236, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1559.776625832501, + -125.60070693936905, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1558.276625832501, + -123.00263072801573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1556.776625832501, + -120.40455451666242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1555.276625832501, + -117.8064783053091, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1553.776625832501, + -115.20840209395578, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1553.776625832501, + -115.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1551.1785496211476, + -113.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1548.5804734097942, + -112.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1545.9823971984408, + -110.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1543.3843209870874, + -109.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1540.786244775734, + -107.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1538.1881685643807, + -106.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1535.5900923530273, + -104.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1532.992016141674, + -103.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1530.3939399303206, + -101.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1527.7958637189672, + -100.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1525.1977875076138, + -98.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1522.5997112962605, + -97.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1520.001635084907, + -95.70840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1517.4035588735537, + -94.20840209395578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1514.8054826622003, + -92.70840209395578, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-15-47_1781999754/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-15-47_1781999754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80216290ef6ea38eb710eb943c87f64a20011d75 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-15-47_1781999754/pose.jsonl @@ -0,0 +1,847 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 426.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 423.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 420.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 417.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 411.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 402.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 402.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 402.4393459077571, + 207.55098933149858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 400.9393459077571, + 204.95291312014527, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 399.4393459077571, + 202.35483690879195, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 397.9393459077571, + 199.75676069743864, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 396.4393459077571, + 197.15868448608532, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 394.9393459077571, + 194.560608274732, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 393.4393459077571, + 191.9625320633787, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 391.9393459077571, + 189.36445585202537, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 390.4393459077571, + 186.76637964067206, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 388.9393459077571, + 184.16830342931874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 387.4393459077571, + 181.57022721796542, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 387.4393459077571, + 181.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 387.4393459077571, + 178.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 387.4393459077571, + 175.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 387.4393459077571, + 172.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 387.4393459077571, + 169.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 387.4393459077571, + 166.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 387.4393459077571, + 163.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 387.4393459077571, + 160.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 387.4393459077571, + 157.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 387.4393459077571, + 154.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 387.4393459077571, + 151.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 387.4393459077571, + 148.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 387.4393459077571, + 145.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 387.4393459077571, + 142.57022721796542, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 387.4393459077571, + 142.57022721796542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 385.9393459077571, + 139.9721510066121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 384.4393459077571, + 137.3740747952588, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 382.9393459077571, + 134.77599858390548, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 381.4393459077571, + 132.17792237255216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 379.9393459077571, + 129.57984616119884, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 378.4393459077571, + 126.98176994984553, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 376.9393459077571, + 124.38369373849221, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 375.4393459077571, + 121.7856175271389, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 373.9393459077571, + 119.18754131578558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 372.4393459077571, + 116.58946510443226, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 370.9393459077571, + 113.99138889307895, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 369.4393459077571, + 111.39331268172563, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 367.9393459077571, + 108.79523647037232, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 366.4393459077571, + 106.197160259019, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 364.9393459077571, + 103.59908404766568, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 364.9393459077571, + 103.59908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 362.3412696964038, + 102.09908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 359.7431934850505, + 100.59908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 357.14511727369717, + 99.09908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 354.54704106234385, + 97.59908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 351.94896485099054, + 96.09908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 349.3508886396372, + 94.59908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 346.7528124282839, + 93.09908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 344.1547362169306, + 91.59908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 341.55666000557727, + 90.09908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 338.95858379422396, + 88.59908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 336.36050758287064, + 87.09908404766568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 333.7624313715173, + 85.59908404766568, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 64.0, + -0.161909 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-19-21_1983690368/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-19-21_1983690368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78c1d34d37aef999a1b4cfcf3a675c03b4620187 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-19-21_1983690368/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1777.661528012174, + 62.95552224520614, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1779.161528012174, + 60.357446033852824, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1780.661528012174, + 57.75936982249951, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1782.161528012174, + 55.16129361114619, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1783.661528012174, + 52.563217399792876, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1785.161528012174, + 49.96514118843956, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1786.661528012174, + 47.367064977086244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1788.161528012174, + 44.76898876573293, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1789.661528012174, + 42.17091255437961, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1791.161528012174, + 39.572836343026296, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1792.661528012174, + 36.97476013167298, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1794.161528012174, + 34.376683920319664, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1795.661528012174, + 31.778607708966348, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1795.661528012174, + 31.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1795.661528012174, + 28.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1795.661528012174, + 25.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1795.661528012174, + 22.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1795.661528012174, + 19.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1795.661528012174, + 16.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1795.661528012174, + 13.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1795.661528012174, + 10.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1795.661528012174, + 7.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1795.661528012174, + 4.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1795.661528012174, + 1.778607708966348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1795.661528012174, + -1.221392291033652, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1795.661528012174, + -1.221392291033652, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1795.661528012174, + -1.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1798.2596042235273, + -2.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1800.8576804348806, + -4.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1803.455756646234, + -5.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1806.0538328575874, + -7.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1808.6519090689408, + -8.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1811.2499852802941, + -10.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1813.8480614916475, + -11.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1816.4461377030009, + -13.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1819.0442139143543, + -14.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1821.6422901257076, + -16.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1824.240366337061, + -17.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1826.8384425484144, + -19.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1829.4365187597678, + -20.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1832.0345949711211, + -22.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1834.6326711824745, + -23.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1837.2307473938279, + -25.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1839.8288236051812, + -26.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1842.4268998165346, + -28.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1845.024976027888, + -29.721392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1847.6230522392414, + -31.221392291033652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1850.2211284505947, + -32.72139229103365, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1852.819204661948, + -34.22139229103365, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1855.4172808733015, + -35.72139229103365, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1858.0153570846549, + -37.22139229103365, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1858.0153570846549, + -37.22139229103365, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1859.5153570846549, + -39.81946850238697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1861.0153570846549, + -42.417544713740284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1862.5153570846549, + -45.0156209250936, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-33-4_677870460/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-33-4_677870460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d29e957ba83424ade8068d808965816246c8f11 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-33-4_677870460/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 599.6920917741026, + 220.57530151326708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 598.1920917741026, + 217.97722530191376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 596.6920917741026, + 215.37914909056045, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 595.1920917741026, + 212.78107287920713, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 593.6920917741026, + 210.1829966678538, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 592.1920917741026, + 207.5849204565005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 590.6920917741026, + 204.98684424514718, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 589.1920917741026, + 202.38876803379387, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 587.6920917741026, + 199.79069182244055, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 586.1920917741026, + 197.19261561108723, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 584.6920917741026, + 194.59453939973392, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 584.6920917741026, + 194.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 584.6920917741026, + 191.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 584.6920917741026, + 188.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 584.6920917741026, + 185.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 584.6920917741026, + 182.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 584.6920917741026, + 179.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 584.6920917741026, + 176.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 584.6920917741026, + 173.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 584.6920917741026, + 170.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 584.6920917741026, + 167.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 584.6920917741026, + 164.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 584.6920917741026, + 161.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 584.6920917741026, + 158.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 584.6920917741026, + 155.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 584.6920917741026, + 152.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 584.6920917741026, + 149.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 584.6920917741026, + 146.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 584.6920917741026, + 143.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 584.6920917741026, + 140.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 584.6920917741026, + 137.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 584.6920917741026, + 134.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 584.6920917741026, + 131.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 584.6920917741026, + 128.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 584.6920917741026, + 125.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 584.6920917741026, + 122.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 584.6920917741026, + 119.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 584.6920917741026, + 116.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 584.6920917741026, + 113.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 584.6920917741026, + 110.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 584.6920917741026, + 107.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 584.6920917741026, + 104.59453939973392, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 584.6920917741026, + 104.59453939973392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 583.1920917741026, + 101.9964631883806, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 581.6920917741026, + 99.39838697702729, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 580.1920917741026, + 96.80031076567397, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 578.6920917741026, + 94.20223455432065, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 577.1920917741026, + 91.60415834296734, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 577.1920917741026, + 91.60415834296734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 574.5940155627493, + 90.10415834296734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 571.9959393513959, + 88.60415834296734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 569.3978631400425, + 87.10415834296734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 566.7997869286892, + 85.60415834296734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 564.2017107173358, + 84.10415834296734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 561.6036345059824, + 82.60415834296734, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 556.0, + 64.0, + -1.13261 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-34-33_828388027/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-34-33_828388027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..727b808610238dcd64655d9ca9a04b74491c8adf --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-34-33_828388027/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1789.801123834713, + 556.3154840305492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1788.301123834713, + 553.7174078191958, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1786.801123834713, + 551.1193316078425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1785.301123834713, + 548.5212553964891, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1783.801123834713, + 545.9231791851357, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1782.301123834713, + 543.3251029737824, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1780.801123834713, + 540.727026762429, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1779.301123834713, + 538.1289505510756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1777.801123834713, + 535.5308743397222, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1776.301123834713, + 532.9327981283689, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1774.801123834713, + 530.3347219170155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1773.301123834713, + 527.7366457056621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1771.801123834713, + 525.1385694943087, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1770.301123834713, + 522.5404932829554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1768.801123834713, + 519.942417071602, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1767.301123834713, + 517.3443408602486, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1767.301123834713, + 517.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1767.301123834713, + 514.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1767.301123834713, + 511.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1767.301123834713, + 508.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1767.301123834713, + 505.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1767.301123834713, + 502.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1767.301123834713, + 499.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1767.301123834713, + 496.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1767.301123834713, + 493.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1767.301123834713, + 490.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1767.301123834713, + 487.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1767.301123834713, + 484.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1767.301123834713, + 481.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1767.301123834713, + 478.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1767.301123834713, + 475.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1767.301123834713, + 472.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1767.301123834713, + 469.3443408602486, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1767.301123834713, + 469.3443408602486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1768.801123834713, + 466.7462646488953, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1770.301123834713, + 464.148188437542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1771.801123834713, + 461.5501122261887, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1773.301123834713, + 458.95203601483536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1774.801123834713, + 456.35395980348204, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1776.301123834713, + 453.7558835921287, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1777.801123834713, + 451.1578073807754, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-34-3_496060028/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-34-3_496060028/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a1be585610575bcfb642a21ce0b153a78c73d89 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-34-3_496060028/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 530.7818268363374, + -46.058707471548814, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 532.2818268363374, + -48.65678368290213, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 533.7818268363374, + -51.254859894255446, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 535.2818268363374, + -53.85293610560876, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 536.7818268363374, + -56.45101231696208, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 538.2818268363374, + -59.049088528315394, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 539.7818268363374, + -61.64716473966871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 541.2818268363374, + -64.24524095102203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 542.7818268363374, + -66.84331716237534, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 544.2818268363374, + -69.44139337372866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 545.7818268363374, + -72.03946958508197, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 547.2818268363374, + -74.63754579643529, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 548.7818268363374, + -77.2356220077886, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 550.2818268363374, + -79.83369821914192, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 551.7818268363374, + -82.43177443049524, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 553.2818268363374, + -85.02985064184855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 554.7818268363374, + -87.62792685320187, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 556.2818268363374, + -90.22600306455519, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 557.7818268363374, + -92.8240792759085, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 559.2818268363374, + -95.42215548726182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 560.7818268363374, + -98.02023169861513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 562.2818268363374, + -100.61830790996845, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 562.2818268363374, + -100.61830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 564.8799030476907, + -102.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 567.4779792590441, + -103.61830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 570.0760554703975, + -105.11830790996845, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 570.0760554703975, + -105.11830790996845, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 570.0760554703975, + -105.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794887 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 570.0760554703975, + -108.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 570.0760554703975, + -111.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 570.0760554703975, + -114.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 570.0760554703975, + -117.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 570.0760554703975, + -120.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 570.0760554703975, + -123.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 570.0760554703975, + -126.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 570.0760554703975, + -129.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 570.0760554703975, + -132.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 570.0760554703975, + -135.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 570.0760554703975, + -138.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 570.0760554703975, + -141.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 570.0760554703975, + -144.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 570.0760554703975, + -147.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 570.0760554703975, + -150.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 570.0760554703975, + -153.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 570.0760554703975, + -156.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 570.0760554703975, + -159.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 570.0760554703975, + -162.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 570.0760554703975, + -165.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 570.0760554703975, + -168.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 570.0760554703975, + -171.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 570.0760554703975, + -174.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 570.0760554703975, + -177.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 570.0760554703975, + -180.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 570.0760554703975, + -183.11830790996845, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 570.0760554703975, + -183.11830790996845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 568.5760554703975, + -185.71638412132177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 567.0760554703975, + -188.31446033267508, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 565.5760554703975, + -190.9125365440284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 564.0760554703975, + -193.51061275538171, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 562.5760554703975, + -196.10868896673503, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 561.0760554703975, + -198.70676517808835, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-38-16_559301039/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-38-16_559301039/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7e3a483e0f20b0255f2e4f5c3ca3af1ec91abd6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-38-16_559301039/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1711.8095918221322, + 181.45872210065139, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1713.3095918221322, + 184.0567983120047, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1714.8095918221322, + 186.65487452335802, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1716.3095918221322, + 189.25295073471133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1717.8095918221322, + 191.85102694606465, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1719.3095918221322, + 194.44910315741797, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1720.8095918221322, + 197.04717936877128, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1722.3095918221322, + 199.6452555801246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1723.8095918221322, + 202.2433317914779, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1725.3095918221322, + 204.84140800283123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1726.8095918221322, + 207.43948421418455, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1728.3095918221322, + 210.03756042553786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1729.8095918221322, + 212.63563663689118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1731.3095918221322, + 215.2337128482445, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1732.8095918221322, + 217.8317890595978, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1734.3095918221322, + 220.42986527095113, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1735.8095918221322, + 223.02794148230444, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1737.3095918221322, + 225.62601769365776, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1738.8095918221322, + 228.22409390501107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1740.3095918221322, + 230.8221701163644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1741.8095918221322, + 233.4202463277177, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1741.8095918221322, + 233.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1741.8095918221322, + 236.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1741.8095918221322, + 239.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1741.8095918221322, + 242.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1741.8095918221322, + 245.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1741.8095918221322, + 248.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1741.8095918221322, + 251.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1741.8095918221322, + 254.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1741.8095918221322, + 257.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1741.8095918221322, + 260.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1741.8095918221322, + 263.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1741.8095918221322, + 266.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1741.8095918221322, + 269.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1741.8095918221322, + 272.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1741.8095918221322, + 275.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1741.8095918221322, + 278.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1741.8095918221322, + 281.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1741.8095918221322, + 284.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1741.8095918221322, + 287.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1741.8095918221322, + 290.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1741.8095918221322, + 293.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1741.8095918221322, + 296.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1741.8095918221322, + 299.4202463277177, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1741.8095918221322, + 299.4202463277177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1743.3095918221322, + 302.018322539071, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1744.8095918221322, + 304.6163987504243, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1746.3095918221322, + 307.2144749617776, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1760.0, + 352.0, + -8.07619 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-39-31_1974806403/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-39-31_1974806403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1685f4f40f3d987fc3f7093edc227ccbf224c382 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-39-31_1974806403/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 903.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 906.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 909.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 912.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 915.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 918.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 921.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 924.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 927.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 930.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 933.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 936.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 939.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 942.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 945.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 948.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 951.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 954.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 957.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 960.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 963.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 966.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 969.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 972.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 975.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 978.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 981.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 981.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 981.6300048305017, + 325.5484524082573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 983.1300048305017, + 322.95037619690396, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 984.6300048305017, + 320.35229998555064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 986.1300048305017, + 317.7542237741973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 987.6300048305017, + 315.156147562844, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 989.1300048305017, + 312.5580713514907, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 989.1300048305017, + 312.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 991.7280810418549, + 311.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 994.3261572532083, + 309.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 996.9242334645617, + 308.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 999.522309675915, + 306.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1002.1203858872684, + 305.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1004.7184620986218, + 303.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1007.3165383099752, + 302.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1009.9146145213285, + 300.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1012.5126907326819, + 299.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1015.1107669440353, + 297.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1017.7088431553886, + 296.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1020.306919366742, + 294.5580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1022.9049955780954, + 293.0580713514907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1025.5030717894488, + 291.5580713514907, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 284.0, + -0.375382 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-41-49_1387036159/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-41-49_1387036159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c00ed87c84e8b8bbd40ee697579181a00ecdf31 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-41-49_1387036159/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 848.441814091573, + -23.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 848.441814091573, + -26.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 848.441814091573, + -29.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 848.441814091573, + -32.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 848.441814091573, + -35.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 848.441814091573, + -38.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 848.441814091573, + -41.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 848.441814091573, + -44.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 848.441814091573, + -47.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 848.441814091573, + -50.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 848.441814091573, + -53.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 848.441814091573, + -56.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 848.441814091573, + -59.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 848.441814091573, + -62.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 848.441814091573, + -65.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 848.441814091573, + -68.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 848.441814091573, + -71.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 848.441814091573, + -74.72755922987224, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 848.441814091573, + -74.72755922987224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 846.941814091573, + -77.32563544122556, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 846.941814091573, + -77.32563544122556, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 844.3437378802196, + -78.82563544122556, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 841.7456616688662, + -80.32563544122556, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 839.1475854575128, + -81.82563544122556, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 836.5495092461595, + -83.32563544122556, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 836.5495092461595, + -83.32563544122556, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 835.0495092461595, + -85.92371165257887, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 833.5495092461595, + -88.52178786393219, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 832.0495092461595, + -91.1198640752855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 830.5495092461595, + -93.71794028663882, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 829.0495092461595, + -96.31601649799214, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 827.5495092461595, + -98.91409270934545, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 826.0495092461595, + -101.51216892069877, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 824.5495092461595, + -104.11024513205209, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 823.0495092461595, + -106.7083213434054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 821.5495092461595, + -109.30639755475872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 820.0495092461595, + -111.90447376611203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 818.5495092461595, + -114.50254997746535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 817.0495092461595, + -117.10062618881867, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 815.5495092461595, + -119.69870240017198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 814.0495092461595, + -122.2967786115253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 812.5495092461595, + -124.89485482287861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 811.0495092461595, + -127.49293103423193, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 809.5495092461595, + -130.09100724558525, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 808.0495092461595, + -132.68908345693856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 806.5495092461595, + -135.28715966829188, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 805.0495092461595, + -137.8852358796452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 803.5495092461595, + -140.4833120909985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 802.0495092461595, + -143.08138830235183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 800.5495092461595, + -145.67946451370514, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 799.0495092461595, + -148.27754072505846, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + -168.0, + -3.30387 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-44-52_860516127/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-44-52_860516127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd6d4652a37daa33bd40c2fcf98fbfd90193f899 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-44-52_860516127/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -109.78603944047296, + -210.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -109.78603944047296, + -213.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -109.78603944047296, + -216.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -109.78603944047296, + -219.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -109.78603944047296, + -222.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -109.78603944047296, + -225.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -109.78603944047296, + -228.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -109.78603944047296, + -231.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -109.78603944047296, + -234.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -109.78603944047296, + -237.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -109.78603944047296, + -240.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.78603944047296, + -243.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -109.78603944047296, + -246.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -109.78603944047296, + -249.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -109.78603944047296, + -252.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -109.78603944047296, + -255.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -109.78603944047296, + -258.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -109.78603944047296, + -261.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -109.78603944047296, + -264.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -109.78603944047296, + -267.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -109.78603944047296, + -270.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -109.78603944047296, + -273.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -109.78603944047296, + -276.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -109.78603944047296, + -279.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -109.78603944047296, + -282.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -109.78603944047296, + -285.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -109.78603944047296, + -288.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -109.78603944047296, + -291.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -109.78603944047296, + -294.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -109.78603944047296, + -297.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -109.78603944047296, + -300.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -109.78603944047296, + -303.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -109.78603944047296, + -306.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -109.78603944047296, + -309.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -109.78603944047296, + -312.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -109.78603944047296, + -315.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -109.78603944047296, + -318.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -109.78603944047296, + -321.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -109.78603944047296, + -324.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -109.78603944047296, + -327.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -109.78603944047296, + -330.267677125708, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -109.78603944047296, + -330.267677125708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -108.28603944047296, + -332.86575333706134, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -106.78603944047296, + -335.46382954841465, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -105.28603944047296, + -338.06190575976797, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -103.78603944047296, + -340.6599819711213, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -102.28603944047296, + -343.2580581824746, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -100.78603944047296, + -345.8561343938279, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -99.28603944047296, + -348.45421060518123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -97.78603944047296, + -351.05228681653455, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -96.28603944047296, + -353.65036302788786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -94.78603944047296, + -356.2484392392412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -93.28603944047296, + -358.8465154505945, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -91.78603944047296, + -361.4445916619478, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -90.28603944047296, + -364.0426678733011, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + -380.0, + -1.13129 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-48-46_402903177/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-48-46_402903177/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..caf0442b7d317e66237181bb9ac4ba869c599e50 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-48-46_402903177/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1276.42261203354, + 788.0559099667855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1273.8245358221866, + 789.5559099667855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1271.2264596108332, + 791.0559099667855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1268.6283833994798, + 792.5559099667855, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1268.6283833994798, + 792.5559099667855, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1267.1283833994798, + 795.1539861781389, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1265.6283833994798, + 797.7520623894923, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1264.1283833994798, + 800.3501386008456, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1262.6283833994798, + 802.948214812199, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1261.1283833994798, + 805.5462910235524, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1259.6283833994798, + 808.1443672349058, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1258.1283833994798, + 810.7424434462591, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1256.6283833994798, + 813.3405196576125, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1255.1283833994798, + 815.9385958689659, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1253.6283833994798, + 818.5366720803192, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1252.1283833994798, + 821.1347482916726, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1250.6283833994798, + 823.732824503026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1249.1283833994798, + 826.3309007143794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1247.6283833994798, + 828.9289769257327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1246.1283833994798, + 831.5270531370861, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1246.1283833994798, + 831.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1243.5303071881265, + 833.0270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1240.932230976773, + 834.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1238.3341547654197, + 836.0270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1235.7360785540664, + 837.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1233.138002342713, + 839.0270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1230.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1230.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1227.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1224.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1221.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1218.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1215.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1212.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1209.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1206.5399261313596, + 840.5270531370861, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1140.0, + 892.0, + 1.05541 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-54-4_1433102829/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-54-4_1433102829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff812376d09a88c96739e3b2e7d7558480e80441 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-8_23-54-4_1433102829/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.12269270602349, + -184.12129435447804, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 197.62269270602349, + -181.52321814312472, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.12269270602349, + -178.9251419317714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 200.62269270602349, + -176.3270657204181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 202.12269270602349, + -173.72898950906477, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 203.62269270602349, + -171.13091329771146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 205.12269270602349, + -168.53283708635814, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.62269270602349, + -165.93476087500483, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.12269270602349, + -163.3366846636515, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 209.62269270602349, + -160.7386084522982, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 211.12269270602349, + -158.14053224094488, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 211.12269270602349, + -158.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 213.7207689173768, + -156.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 216.31884512873012, + -155.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 218.91692134008343, + -153.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 221.51499755143675, + -152.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 224.11307376279007, + -150.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 226.71114997414338, + -149.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 229.3092261854967, + -147.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 231.90730239685, + -146.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 234.50537860820333, + -144.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 237.10345481955665, + -143.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 239.70153103090996, + -141.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 242.29960724226328, + -140.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 244.8976834536166, + -138.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 247.4957596649699, + -137.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 250.09383587632323, + -135.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 252.69191208767654, + -134.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 255.28998829902986, + -132.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 257.8880645103832, + -131.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 260.4861407217365, + -129.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 263.0842169330898, + -128.14053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 265.6822931444431, + -126.64053224094488, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 265.6822931444431, + -126.64053224094488, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 267.1822931444431, + -124.04245602959156, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 268.6822931444431, + -121.44437981823825, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 270.1822931444431, + -118.84630360688493, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 271.6822931444431, + -116.24822739553161, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 273.1822931444431, + -113.6501511841783, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 274.6822931444431, + -111.05207497282498, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 276.1822931444431, + -108.45399876147167, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 277.6822931444431, + -105.85592255011835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 279.1822931444431, + -103.25784633876503, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 280.6822931444431, + -100.65977012741172, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 282.1822931444431, + -98.0616939160584, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 283.6822931444431, + -95.46361770470509, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 283.6822931444431, + -95.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 283.6822931444431, + -92.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 283.6822931444431, + -89.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 283.6822931444431, + -86.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 283.6822931444431, + -83.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 283.6822931444431, + -80.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 283.6822931444431, + -77.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 283.6822931444431, + -74.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 283.6822931444431, + -71.46361770470509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 283.6822931444431, + -68.46361770470509, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -44.0, + 1.41541 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-11-11_564325578/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-11-11_564325578/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49b008224cf7811a2110e0f60eb4c4cffdcc5990 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-11-11_564325578/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1362.402806293297, + 784.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1365.0008825046505, + 782.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1367.5989587160038, + 781.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1370.1970349273572, + 779.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1372.7951111387106, + 778.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1375.393187350064, + 776.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1377.9912635614173, + 775.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1380.5893397727707, + 773.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1383.187415984124, + 772.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1385.7854921954774, + 770.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1388.3835684068308, + 769.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1390.9816446181842, + 767.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1393.5797208295376, + 766.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1396.177797040891, + 764.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1398.7758732522443, + 763.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1401.3739494635977, + 761.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1403.972025674951, + 760.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1406.5701018863044, + 758.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1409.1681780976578, + 757.4513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1411.7662543090112, + 755.9513858733544, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1411.7662543090112, + 755.9513858733544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1413.2662543090112, + 753.353309662001, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1414.7662543090112, + 750.7552334506477, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1416.2662543090112, + 748.1571572392943, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1417.7662543090112, + 745.5590810279409, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1419.2662543090112, + 742.9610048165875, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1419.2662543090112, + 742.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1421.8643305203645, + 741.4610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1424.462406731718, + 739.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1427.0604829430713, + 738.4610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1429.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1429.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1432.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1435.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1438.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1441.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1444.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1447.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1450.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1453.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1456.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1459.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1462.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1465.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1468.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1471.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1474.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1477.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1480.6585591544247, + 736.9610048165875, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-16-26_1156541312/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-16-26_1156541312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..193d2d775e7513756340ae886e8c4d8b74f4eed0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-16-26_1156541312/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1661.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1658.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1655.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1652.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1649.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1646.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1643.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1640.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1637.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1634.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1634.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1634.6838004882065, + -53.633257348586426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1633.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1633.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1633.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1630.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1627.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1624.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1621.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1618.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1615.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1612.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1609.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1606.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1603.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1600.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1597.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1594.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1591.1838004882065, + -51.03518113723311, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-18-52_1788014412/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-18-52_1788014412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..834355ddc34f6d34096db733605c03681b97ab3c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-18-52_1788014412/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1904.9882045349148, + 118.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1902.3901283235614, + 120.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1899.792052112208, + 121.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1897.1939759008546, + 123.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1894.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1894.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1891.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1888.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1885.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1882.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1879.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1876.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1873.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1870.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1867.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1864.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1861.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1858.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1858.5958996895013, + 124.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1855.997823478148, + 126.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1853.3997472667945, + 127.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1850.8016710554411, + 129.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1848.2035948440878, + 130.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1845.6055186327344, + 132.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1843.007442421381, + 133.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1840.4093662100277, + 135.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1837.8112899986743, + 136.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1835.213213787321, + 138.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1832.6151375759675, + 139.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1830.0170613646142, + 141.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1827.4189851532608, + 142.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1824.8209089419074, + 144.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1822.222832730554, + 145.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1819.6247565192007, + 147.00969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1817.0266803078473, + 148.50969702044074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1814.428604096494, + 150.00969702044074, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 172.0, + 0.929306 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-20-30_1095966189/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-20-30_1095966189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d12318ddeef5b9134c85c09961a846e6c5ee900a --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-20-30_1095966189/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1356.3190815925257, + 787.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1358.917157803879, + 786.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1361.5152340152324, + 784.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1364.1133102265858, + 783.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1366.7113864379392, + 781.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1369.3094626492925, + 780.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1371.907538860646, + 778.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1374.5056150719993, + 777.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1377.1036912833526, + 775.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1379.701767494706, + 774.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1382.2998437060594, + 772.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1384.8979199174128, + 771.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1387.4959961287661, + 769.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1390.0940723401195, + 768.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1392.6921485514729, + 766.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1395.2902247628263, + 765.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1397.8883009741796, + 763.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1400.486377185533, + 762.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1403.0844533968864, + 760.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1405.6825296082397, + 759.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1408.2806058195931, + 757.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1410.8786820309465, + 756.0588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1413.4767582422999, + 754.5588198154604, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1413.4767582422999, + 754.5588198154604, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1414.9767582422999, + 751.9607436041072, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1416.4767582422999, + 749.3626673927538, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1417.9767582422999, + 746.7645911814004, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1419.4767582422999, + 744.166514970047, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1420.9767582422999, + 741.5684387586937, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1422.4767582422999, + 738.9703625473403, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1422.4767582422999, + 738.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1425.0748344536532, + 737.4703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1427.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1427.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1430.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1433.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1436.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1439.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1442.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1445.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1448.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1451.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1454.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1457.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1460.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1463.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1466.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1469.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1472.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1475.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1478.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1481.6729106650066, + 735.9703625473403, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-23-16_309198987/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-23-16_309198987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac718b2619ed4b46cf9499ad64345982da45576b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-23-16_309198987/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1797.2248757591867, + 77.3547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1799.82295197054, + 75.8547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1802.4210281818935, + 74.3547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1805.0191043932468, + 72.8547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1807.6171806046002, + 71.3547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1810.2152568159536, + 69.8547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1812.813333027307, + 68.3547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1815.4114092386603, + 66.8547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1818.0094854500137, + 65.3547344976698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1820.607561661367, + 63.854734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1823.2056378727204, + 62.354734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1825.8037140840738, + 60.854734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1828.4017902954272, + 59.354734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1830.9998665067806, + 57.854734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1833.597942718134, + 56.354734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1836.1960189294873, + 54.854734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1838.7940951408407, + 53.354734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1841.392171352194, + 51.854734497669796, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1841.392171352194, + 51.854734497669796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1842.892171352194, + 49.25665828631648, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1844.392171352194, + 46.658582074963164, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1845.892171352194, + 44.06050586360985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1847.392171352194, + 41.46242965225653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1848.892171352194, + 38.864353440903216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1850.392171352194, + 36.2662772295499, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1851.892171352194, + 33.668201018196584, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1853.392171352194, + 31.070124806843268, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1854.892171352194, + 28.47204859548995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1856.392171352194, + 25.873972384136636, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1857.892171352194, + 23.27589617278332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1859.392171352194, + 20.677819961430004, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1860.892171352194, + 18.079743750076688, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1862.392171352194, + 15.481667538723372, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1863.892171352194, + 12.883591327370056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1865.392171352194, + 10.28551511601674, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1865.392171352194, + 10.28551511601674, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1865.392171352194, + 7.2855151160167395, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1865.392171352194, + 4.2855151160167395, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1865.392171352194, + 1.2855151160167395, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1865.392171352194, + -1.7144848839832605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1865.392171352194, + -4.7144848839832605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1865.392171352194, + -7.7144848839832605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1865.392171352194, + -10.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1865.392171352194, + -13.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1865.392171352194, + -16.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1865.392171352194, + -19.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1865.392171352194, + -22.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1865.392171352194, + -25.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1865.392171352194, + -28.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1865.392171352194, + -31.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1865.392171352194, + -34.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1865.392171352194, + -37.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1865.392171352194, + -40.71448488398326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1865.392171352194, + -43.71448488398326, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-24-53_37487770/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-24-53_37487770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9a8f00cdb034fd65093e0dfbc5026d67a39aad4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-24-53_37487770/pose.jsonl @@ -0,0 +1,886 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1397.249697982088, + 583.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1399.8477741934414, + 584.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1402.4458504047948, + 586.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1405.0439266161482, + 587.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1407.6420028275015, + 589.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1410.240079038855, + 590.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1412.8381552502083, + 592.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1415.4362314615616, + 593.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1418.034307672915, + 595.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1420.6323838842684, + 596.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1423.2304600956218, + 598.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1425.8285363069751, + 599.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1428.4266125183285, + 601.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1431.0246887296819, + 602.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1433.6227649410353, + 604.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1436.2208411523886, + 605.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1438.818917363742, + 607.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1441.4169935750954, + 608.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1444.0150697864487, + 610.460252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1446.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1446.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1449.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1452.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1455.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1458.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1461.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1464.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1467.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1470.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1473.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1476.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1479.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1482.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1482.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1482.6131459978021, + 611.960252022558, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1484.1131459978021, + 614.5583282339114, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1485.6131459978021, + 617.1564044452648, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1487.1131459978021, + 619.7544806566182, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1487.1131459978021, + 619.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1487.1131459978021, + 622.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1487.1131459978021, + 625.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1487.1131459978021, + 628.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1487.1131459978021, + 631.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1487.1131459978021, + 634.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1487.1131459978021, + 637.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1487.1131459978021, + 640.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1487.1131459978021, + 643.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1487.1131459978021, + 646.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1487.1131459978021, + 649.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1487.1131459978021, + 652.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1487.1131459978021, + 655.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1487.1131459978021, + 658.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1487.1131459978021, + 661.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1487.1131459978021, + 664.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1487.1131459978021, + 667.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1487.1131459978021, + 670.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1487.1131459978021, + 673.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1487.1131459978021, + 676.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1487.1131459978021, + 679.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1487.1131459978021, + 682.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1487.1131459978021, + 685.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1487.1131459978021, + 688.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1487.1131459978021, + 691.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1487.1131459978021, + 694.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1487.1131459978021, + 697.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1487.1131459978021, + 700.7544806566182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1487.1131459978021, + 703.7544806566182, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1504.0, + 728.0, + 1.05537 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-30-23_478034945/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-30-23_478034945/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cf5a4cb732149e341ebb67a263a669aaaf65900 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-30-23_478034945/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1799.2134958297465, + 348.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1799.2134958297465, + 351.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1799.2134958297465, + 354.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1799.2134958297465, + 357.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1799.2134958297465, + 360.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1799.2134958297465, + 363.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1799.2134958297465, + 366.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1799.2134958297465, + 369.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1799.2134958297465, + 372.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1799.2134958297465, + 375.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1799.2134958297465, + 378.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1799.2134958297465, + 381.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1799.2134958297465, + 384.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1799.2134958297465, + 387.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1799.2134958297465, + 390.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1799.2134958297465, + 393.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1799.2134958297465, + 396.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1799.2134958297465, + 399.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1799.2134958297465, + 402.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1799.2134958297465, + 405.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1799.2134958297465, + 408.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1799.2134958297465, + 411.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1799.2134958297465, + 414.19251285779626, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1799.2134958297465, + 414.19251285779626, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1799.2134958297465, + 414.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1796.6154196183932, + 415.69251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1794.0173434070398, + 417.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1791.4192671956864, + 418.69251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1788.821190984333, + 420.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1786.2231147729797, + 421.69251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1783.6250385616263, + 423.19251285779626, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1783.6250385616263, + 423.19251285779626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1782.1250385616263, + 425.7905890691496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1780.6250385616263, + 428.3886652805029, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1779.1250385616263, + 430.9867414918562, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1777.6250385616263, + 433.5848177032095, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1776.1250385616263, + 436.18289391456284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1774.6250385616263, + 438.78097012591616, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1773.1250385616263, + 441.3790463372695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1771.6250385616263, + 443.9771225486228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1770.1250385616263, + 446.5751987599761, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1768.6250385616263, + 449.1732749713294, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1767.1250385616263, + 451.77135118268274, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1765.6250385616263, + 454.36942739403605, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1765.6250385616263, + 454.36942739403605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1765.6250385616263, + 457.36942739403605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1765.6250385616263, + 460.36942739403605, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1756.0, + 492.0, + -8.00905 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-32-28_993967637/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-32-28_993967637/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d241545dc88b7f97e1a7db1581bd67fd749c3d81 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-32-28_993967637/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1744.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1747.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1750.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1753.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1756.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1759.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1762.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1765.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1768.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1771.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1771.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1771.531826488736, + 657.5703463821385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1773.031826488736, + 654.9722701707851, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1774.531826488736, + 652.3741939594318, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1776.031826488736, + 649.7761177480784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1777.531826488736, + 647.178041536725, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1779.031826488736, + 644.5799653253716, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1780.531826488736, + 641.9818891140183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1782.031826488736, + 639.3838129026649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1783.531826488736, + 636.7857366913115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1785.031826488736, + 634.1876604799581, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1786.531826488736, + 631.5895842686048, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1788.031826488736, + 628.9915080572514, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1789.531826488736, + 626.393431845898, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1791.031826488736, + 623.7953556345446, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1792.531826488736, + 621.1972794231913, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1794.031826488736, + 618.5992032118379, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1795.531826488736, + 616.0011270004845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1797.031826488736, + 613.4030507891312, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1798.531826488736, + 610.8049745777778, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1800.031826488736, + 608.2068983664244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1801.531826488736, + 605.608822155071, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1803.031826488736, + 603.0107459437177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1804.531826488736, + 600.4126697323643, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1806.031826488736, + 597.8145935210109, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1807.531826488736, + 595.2165173096575, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1809.031826488736, + 592.6184410983042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1810.531826488736, + 590.0203648869508, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1812.031826488736, + 587.4222886755974, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1813.531826488736, + 584.824212464244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1815.031826488736, + 582.2261362528907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1816.531826488736, + 579.6280600415373, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1816.531826488736, + 579.6280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1819.1299027000894, + 578.1280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1821.7279789114427, + 576.6280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1824.326055122796, + 575.1280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1826.9241313341495, + 573.6280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1829.5222075455029, + 572.1280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1832.1202837568562, + 570.6280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1834.7183599682096, + 569.1280600415373, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1834.7183599682096, + 569.1280600415373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1836.2183599682096, + 566.5299838301839, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1837.7183599682096, + 563.9319076188306, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1839.2183599682096, + 561.3338314074772, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-33-25_1826620483/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-33-25_1826620483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfb6bd529df89c74ca299e959aabfa177460f634 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-33-25_1826620483/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1269.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1266.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1263.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1260.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1257.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1254.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1251.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1248.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1245.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1242.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1239.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1236.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1233.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1230.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1227.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1224.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1224.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1224.0342470019975, + 198.73308773234027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1222.5342470019975, + 196.13501152098695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1221.0342470019975, + 193.53693530963363, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1219.5342470019975, + 190.93885909828032, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1219.5342470019975, + 190.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1216.9361707906442, + 189.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1214.3380945792908, + 187.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1211.7400183679374, + 186.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1209.141942156584, + 184.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1206.5438659452307, + 183.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1203.9457897338773, + 181.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1201.347713522524, + 180.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1198.7496373111705, + 178.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1196.1515610998172, + 177.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1193.5534848884638, + 175.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1190.9554086771104, + 174.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1188.357332465757, + 172.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1185.7592562544037, + 171.43885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1183.1611800430503, + 169.93885909828032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1180.563103831697, + 168.43885909828032, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-49-42_1302539390/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-49-42_1302539390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab9f512db5ef0b8fe052de130d3d6b5fb6a351db --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-49-42_1302539390/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 778.3500977781943, + 82.1453222346023, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 776.8500977781943, + 79.54724602324899, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 775.3500977781943, + 76.94916981189567, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 773.8500977781943, + 74.35109360054236, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 772.3500977781943, + 71.75301738918904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 770.8500977781943, + 69.15494117783572, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 769.3500977781943, + 66.55686496648241, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 767.8500977781943, + 63.95878875512909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 766.3500977781943, + 61.360712543775776, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 764.8500977781943, + 58.76263633242246, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 764.8500977781943, + 58.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 764.8500977781943, + 55.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 764.8500977781943, + 52.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 764.8500977781943, + 49.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 764.8500977781943, + 46.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 764.8500977781943, + 43.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 764.8500977781943, + 40.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 764.8500977781943, + 37.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 764.8500977781943, + 34.76263633242246, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 764.8500977781943, + 34.76263633242246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 763.3500977781943, + 32.164560121069144, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 761.8500977781943, + 29.566483909715828, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 760.3500977781943, + 26.968407698362512, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 758.8500977781943, + 24.370331487009196, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 757.3500977781943, + 21.77225527565588, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 755.8500977781943, + 19.174179064302564, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 754.3500977781943, + 16.576102852949248, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 752.8500977781943, + 13.978026641595932, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 751.3500977781943, + 11.379950430242616, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 749.8500977781943, + 8.7818742188893, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 748.3500977781943, + 6.183798007535984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 746.8500977781943, + 3.5857217961826677, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 745.3500977781943, + 0.9876455848293517, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 743.8500977781943, + -1.6104306265239643, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 742.3500977781943, + -4.20850683787728, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 740.8500977781943, + -6.806583049230596, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 739.3500977781943, + -9.404659260583912, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 737.8500977781943, + -12.002735471937228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 736.3500977781943, + -14.600811683290544, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 734.8500977781943, + -17.19888789464386, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 733.3500977781943, + -19.796964105997176, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 731.8500977781943, + -22.395040317350492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 730.3500977781943, + -24.99311652870381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 728.8500977781943, + -27.591192740057124, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 727.3500977781943, + -30.18926895141044, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 725.8500977781943, + -32.787345162763756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 724.3500977781943, + -35.38542137411707, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 722.8500977781943, + -37.98349758547039, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 721.3500977781943, + -40.581573796823704, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 719.8500977781943, + -43.17965000817702, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 718.3500977781943, + -45.77772621953034, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 716.8500977781943, + -48.37580243088365, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 708.0, + -68.0, + 2.61985 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-52-13_1272796157/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-52-13_1272796157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16a0eecd4a3f6b518324ce0e41931abe1714129c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_0-52-13_1272796157/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1558.8676731695296, + -227.98653593185347, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1560.3676731695296, + -225.38845972050015, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1561.8676731695296, + -222.79038350914684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1563.3676731695296, + -220.19230729779352, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1564.8676731695296, + -217.5942310864402, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1566.3676731695296, + -214.9961548750869, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1567.8676731695296, + -212.39807866373357, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1569.3676731695296, + -209.80000245238026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1570.8676731695296, + -207.20192624102694, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1572.3676731695296, + -204.60385002967362, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1573.8676731695296, + -202.0057738183203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1575.3676731695296, + -199.407697606967, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1575.3676731695296, + -199.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1575.3676731695296, + -196.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1575.3676731695296, + -193.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1575.3676731695296, + -190.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1575.3676731695296, + -187.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1575.3676731695296, + -184.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1575.3676731695296, + -181.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1575.3676731695296, + -178.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1575.3676731695296, + -175.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1575.3676731695296, + -172.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1575.3676731695296, + -169.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1575.3676731695296, + -166.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1575.3676731695296, + -163.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1575.3676731695296, + -160.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1575.3676731695296, + -157.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1575.3676731695296, + -154.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1575.3676731695296, + -151.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1575.3676731695296, + -148.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1575.3676731695296, + -145.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1575.3676731695296, + -142.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1575.3676731695296, + -139.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1575.3676731695296, + -136.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1575.3676731695296, + -133.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1575.3676731695296, + -130.407697606967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1575.3676731695296, + -127.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1575.3676731695296, + -124.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1575.3676731695296, + -121.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1575.3676731695296, + -118.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1575.3676731695296, + -115.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1575.3676731695296, + -112.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1575.3676731695296, + -109.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1575.3676731695296, + -106.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1575.3676731695296, + -103.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1575.3676731695296, + -100.40769760696699, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1575.3676731695296, + -100.40769760696699, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1575.3676731695296, + -100.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1572.7695969581762, + -98.90769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1570.1715207468228, + -97.40769760696699, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1570.1715207468228, + -97.40769760696699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1568.6715207468228, + -94.80962139561368, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1568.0, + -68.0, + 1.05541 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-1-40_628974580/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-1-40_628974580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84132361ef2f94cb39513425318017c7f83d7bce --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-1-40_628974580/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1171.3258814024664, + 387.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1168.727805191113, + 385.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1166.1297289797596, + 384.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1163.5316527684063, + 382.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1160.933576557053, + 381.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1158.3355003456995, + 379.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1155.7374241343462, + 378.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1153.1393479229928, + 376.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1150.5412717116394, + 375.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1147.943195500286, + 373.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1145.3451192889327, + 372.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1142.7470430775793, + 370.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1140.148966866226, + 369.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1137.5508906548725, + 367.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1134.9528144435192, + 366.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1132.3547382321658, + 364.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1129.7566620208124, + 363.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1127.158585809459, + 361.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1124.5605095981057, + 360.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1121.9624333867523, + 358.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1119.364357175399, + 357.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1116.7662809640456, + 355.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1114.1682047526922, + 354.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1111.5701285413388, + 352.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1108.9720523299854, + 351.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1106.373976118632, + 349.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1103.7758999072787, + 348.3315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1101.1778236959253, + 346.8315164225671, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1101.1778236959253, + 346.8315164225671, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1099.6778236959253, + 344.2334402112138, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1098.1778236959253, + 341.6353639998605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1096.6778236959253, + 339.0372877885072, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1095.1778236959253, + 336.43921157715386, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1093.6778236959253, + 333.84113536580054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1092.1778236959253, + 331.2430591544472, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1090.6778236959253, + 328.6449829430939, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1089.1778236959253, + 326.0469067317406, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1087.6778236959253, + 323.4488305203873, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1086.1778236959253, + 320.85075430903396, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1084.6778236959253, + 318.25267809768064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1083.1778236959253, + 315.6546018863273, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1081.6778236959253, + 313.056525674974, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1080.1778236959253, + 310.4584494636207, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1078.6778236959253, + 307.8603732522674, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1077.1778236959253, + 305.26229704091406, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1077.1778236959253, + 305.26229704091406, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1074.579747484572, + 303.76229704091406, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1071.9816712732186, + 302.26229704091406, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1048.0, + 284.0, + -0.375382 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-13-11_1965421244/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-13-11_1965421244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fb0c6182faa907da38855c87c46c23137a3bf4f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-13-11_1965421244/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 610.801056628306, + -137.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 608.2029804169526, + -135.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 605.6049042055993, + -134.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 603.0068279942459, + -132.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 600.4087517828925, + -131.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 597.8106755715392, + -129.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 595.2125993601858, + -128.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 592.6145231488324, + -126.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 590.016446937479, + -125.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 587.4183707261257, + -123.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 584.8202945147723, + -122.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 582.2222183034189, + -120.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 579.6241420920655, + -119.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 577.0260658807122, + -117.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 574.4279896693588, + -116.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 571.8299134580054, + -114.61782057792752, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 571.8299134580054, + -114.61782057792752, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 571.8299134580054, + -114.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.570796326794906 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 571.8299134580054, + -111.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 571.8299134580054, + -108.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 571.8299134580054, + -105.61782057792752, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 571.8299134580054, + -105.61782057792752, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 571.8299134580054, + -105.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 569.231837246652, + -104.11782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 566.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 566.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 563.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 560.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 557.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 554.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 551.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 548.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 545.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 542.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 539.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 536.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 533.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 530.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 527.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 524.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 521.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 518.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 515.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 512.6337610352987, + -102.61782057792752, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-15-10_845563291/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-15-10_845563291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6fdf1fe7957c0d9a5c74b56be8c9e929dc853c4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-15-10_845563291/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 786.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 789.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 792.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 795.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 798.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 801.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 804.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 807.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 810.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 813.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 816.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 819.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 822.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 825.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 828.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 831.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 834.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 837.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 840.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 843.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 846.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 849.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 852.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 855.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 858.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 861.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 864.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 867.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 870.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 873.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 876.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 879.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 882.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 885.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 888.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 891.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 894.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 897.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 900.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 903.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 906.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 909.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 912.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 912.0901701762698, + 1005.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 914.6882463876232, + 1003.7918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 917.2863225989765, + 1002.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 919.8843988103299, + 1000.7918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 922.4824750216833, + 999.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 925.0805512330367, + 997.7918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 927.67862744439, + 996.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 930.2767036557434, + 994.7918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 932.8747798670968, + 993.2918539603447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 935.4728560784501, + 991.7918539603447, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 988.0, + 1.64774 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-16-55_524133589/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-16-55_524133589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3822f77bc618a0ab96a4a4ce0990f0de22440e2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-16-55_524133589/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1929.8983192938258, + 323.8549644917622, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1931.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1931.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1931.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1934.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1937.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1940.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1943.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1946.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1946.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1946.3983192938258, + 321.2568882804089, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1947.8983192938258, + 323.8549644917622, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1949.3983192938258, + 326.4530407031155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1950.8983192938258, + 329.0511169144688, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1952.3983192938258, + 331.64919312582214, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1953.8983192938258, + 334.24726933717545, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1955.3983192938258, + 336.84534554852877, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1956.8983192938258, + 339.4434217598821, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1958.3983192938258, + 342.0414979712354, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1959.8983192938258, + 344.6395741825887, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1961.3983192938258, + 347.23765039394203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1962.8983192938258, + 349.83572660529535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1964.3983192938258, + 352.43380281664867, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1965.8983192938258, + 355.031879028002, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1967.3983192938258, + 357.6299552393553, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1968.8983192938258, + 360.2280314507086, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1970.3983192938258, + 362.82610766206193, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1971.8983192938258, + 365.42418387341525, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1973.3983192938258, + 368.02226008476856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1974.8983192938258, + 370.6203362961219, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1976.3983192938258, + 373.2184125074752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1977.8983192938258, + 375.8164887188285, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1979.3983192938258, + 378.4145649301818, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1980.8983192938258, + 381.01264114153514, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1982.3983192938258, + 383.61071735288846, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1982.3983192938258, + 383.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1982.3983192938258, + 386.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1982.3983192938258, + 389.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1982.3983192938258, + 392.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1982.3983192938258, + 395.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1982.3983192938258, + 398.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1982.3983192938258, + 401.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1982.3983192938258, + 404.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1982.3983192938258, + 407.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1982.3983192938258, + 410.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1982.3983192938258, + 413.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1982.3983192938258, + 416.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1982.3983192938258, + 419.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1982.3983192938258, + 422.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1982.3983192938258, + 425.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1982.3983192938258, + 428.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1982.3983192938258, + 431.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1982.3983192938258, + 434.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1982.3983192938258, + 437.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1982.3983192938258, + 440.61071735288846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1982.3983192938258, + 443.61071735288846, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-2-29_786039021/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-2-29_786039021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1098eda1405dd51355d23c899487ba17d24c8953 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-2-29_786039021/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 42.34099345656373, + -109.44115440133038, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 43.84099345656373, + -106.84307818997706, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.34099345656373, + -104.24500197862375, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 46.84099345656373, + -101.64692576727043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.34099345656373, + -99.04884955591712, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.84099345656373, + -96.4507733445638, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 51.34099345656373, + -93.85269713321048, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 52.84099345656373, + -91.25462092185717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 54.34099345656373, + -88.65654471050385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.84099345656373, + -86.05846849915054, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.84099345656373, + -86.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 58.439069667917046, + -84.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 61.03714587927036, + -83.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 63.63522209062368, + -81.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 66.23329830197699, + -80.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 68.8313745133303, + -78.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 71.42945072468362, + -77.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 74.02752693603694, + -75.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.62560314739025, + -74.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.22367935874357, + -72.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 81.82175557009688, + -71.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 84.4198317814502, + -69.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 87.01790799280352, + -68.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 89.61598420415683, + -66.55846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 92.21406041551015, + -65.05846849915054, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 94.81213662686346, + -63.558468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 97.41021283821678, + -62.058468499150536, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 97.41021283821678, + -62.058468499150536, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 97.41021283821678, + -62.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 97.41021283821678, + -59.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 97.41021283821678, + -56.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 97.41021283821678, + -53.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 97.41021283821678, + -50.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 97.41021283821678, + -47.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 97.41021283821678, + -44.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 97.41021283821678, + -41.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 97.41021283821678, + -38.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 97.41021283821678, + -35.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 97.41021283821678, + -32.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 97.41021283821678, + -29.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 97.41021283821678, + -26.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 97.41021283821678, + -23.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 97.41021283821678, + -20.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 97.41021283821678, + -17.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 97.41021283821678, + -14.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 97.41021283821678, + -11.058468499150536, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 97.41021283821678, + -11.058468499150536, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 97.41021283821678, + -11.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 94.81213662686346, + -9.558468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 92.21406041551015, + -8.058468499150536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 89.61598420415683, + -6.5584684991505355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 87.01790799280352, + -5.0584684991505355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 84.4198317814502, + -3.5584684991505355, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 84.4198317814502, + -3.5584684991505355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 82.9198317814502, + -0.9603922877972195, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 81.4198317814502, + 1.6376839235560965, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 79.9198317814502, + 4.2357601349094125, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 78.4198317814502, + 6.8338363462627285, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 76.9198317814502, + 9.431912557616045, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 75.4198317814502, + 12.02998876896936, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 84.0, + 56.0, + 0.021111 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-33-32_292423943/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-33-32_292423943/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1255c0b8c7a1f6cc0563903ad1cda05bece1e5da --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-33-32_292423943/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 498.51736740207457, + -62.220957773273, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 500.01736740207457, + -64.81903398462632, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 501.51736740207457, + -67.41711019597963, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 503.01736740207457, + -70.01518640733295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 504.51736740207457, + -72.61326261868626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 506.01736740207457, + -75.21133883003958, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 507.51736740207457, + -77.8094150413929, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 509.01736740207457, + -80.40749125274621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 510.51736740207457, + -83.00556746409953, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 512.0173674020746, + -85.60364367545284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 513.5173674020746, + -88.20171988680616, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 515.0173674020746, + -90.79979609815948, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 516.5173674020746, + -93.39787230951279, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 518.0173674020746, + -95.99594852086611, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 519.5173674020746, + -98.59402473221942, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 521.0173674020746, + -101.19210094357274, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 522.5173674020746, + -103.79017715492606, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 524.0173674020746, + -106.38825336627937, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 525.5173674020746, + -108.98632957763269, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 527.0173674020746, + -111.584405788986, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 527.0173674020746, + -111.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 527.0173674020746, + -114.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 527.0173674020746, + -117.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 527.0173674020746, + -120.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 527.0173674020746, + -123.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 527.0173674020746, + -126.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 527.0173674020746, + -129.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 527.0173674020746, + -132.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 527.0173674020746, + -135.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 527.0173674020746, + -138.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 527.0173674020746, + -141.584405788986, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 527.0173674020746, + -141.584405788986, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 528.5173674020746, + -144.18248200033932, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 530.0173674020746, + -146.78055821169264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 531.5173674020746, + -149.37863442304595, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 533.0173674020746, + -151.97671063439927, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 534.5173674020746, + -154.57478684575258, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 536.0173674020746, + -157.1728630571059, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 537.5173674020746, + -159.77093926845922, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 539.0173674020746, + -162.36901547981253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 540.5173674020746, + -164.96709169116585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 542.0173674020746, + -167.56516790251916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 543.5173674020746, + -170.16324411387248, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 545.0173674020746, + -172.7613203252258, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 546.5173674020746, + -175.3593965365791, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 548.0173674020746, + -177.95747274793243, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 549.5173674020746, + -180.55554895928574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 551.0173674020746, + -183.15362517063906, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 552.5173674020746, + -185.75170138199238, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 554.0173674020746, + -188.3497775933457, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 554.0173674020746, + -188.3497775933457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 554.0173674020746, + -191.3497775933457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 554.0173674020746, + -194.3497775933457, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 554.0173674020746, + -197.3497775933457, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-43-21_2000419805/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-43-21_2000419805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..440591fe6d2764b3ae001839c8b5d06ae8e615a4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-43-21_2000419805/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 353.73646179625626, + 97.35383760375481, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.23646179625626, + 94.7557613924015, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 350.73646179625626, + 92.15768518104818, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.23646179625626, + 89.55960896969486, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 347.73646179625626, + 86.96153275834155, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 346.23646179625626, + 84.36345654698823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 344.73646179625626, + 81.76538033563492, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 344.73646179625626, + 81.76538033563492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 344.73646179625626, + 78.76538033563492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 344.73646179625626, + 75.76538033563492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 344.73646179625626, + 72.76538033563492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 344.73646179625626, + 69.76538033563492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 344.73646179625626, + 66.76538033563492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 344.73646179625626, + 63.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 344.73646179625626, + 60.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 344.73646179625626, + 57.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 344.73646179625626, + 54.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 344.73646179625626, + 51.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 344.73646179625626, + 48.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 344.73646179625626, + 45.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 344.73646179625626, + 42.765380335634916, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 344.73646179625626, + 42.765380335634916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 343.23646179625626, + 40.1673041242816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 341.73646179625626, + 37.569227912928284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 340.23646179625626, + 34.97115170157497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 338.73646179625626, + 32.37307549022165, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 337.23646179625626, + 29.774999278868336, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 335.73646179625626, + 27.17692306751502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 334.23646179625626, + 24.578846856161704, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 332.73646179625626, + 21.980770644808388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 331.23646179625626, + 19.38269443345507, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 329.73646179625626, + 16.784618222101756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 328.23646179625626, + 14.18654201074844, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 326.73646179625626, + 11.588465799395124, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 325.23646179625626, + 8.990389588041808, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 323.73646179625626, + 6.392313376688492, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 322.23646179625626, + 3.7942371653351756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 320.73646179625626, + 1.1961609539818596, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 319.23646179625626, + -1.4019152573714564, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 317.73646179625626, + -3.9999914687247724, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 316.23646179625626, + -6.598067680078088, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 314.73646179625626, + -9.196143891431404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 313.23646179625626, + -11.79422010278472, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 311.73646179625626, + -14.392296314138036, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 310.23646179625626, + -16.990372525491352, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 308.73646179625626, + -19.58844873684467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 307.23646179625626, + -22.186524948197984, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 307.23646179625626, + -22.186524948197984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 307.23646179625626, + -25.186524948197984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 307.23646179625626, + -28.186524948197984, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 300.0, + -44.0, + 1.41541 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-55-45_1910858270/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-55-45_1910858270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6444672bbf394fa4001adf876df5a2df9412dc43 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-55-45_1910858270/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1263.8017650115546, + 793.8792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1261.2036888002012, + 795.3792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1258.6056125888479, + 796.8792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1256.0075363774945, + 798.3792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1253.4094601661411, + 799.8792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1250.8113839547877, + 801.3792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1248.2133077434344, + 802.8792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1245.615231532081, + 804.3792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1243.0171553207276, + 805.8792140224838, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1243.0171553207276, + 805.8792140224838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1241.5171553207276, + 808.477290233837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1240.0171553207276, + 811.0753664451904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1238.5171553207276, + 813.6734426565438, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1237.0171553207276, + 816.2715188678972, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1235.5171553207276, + 818.8695950792505, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1234.0171553207276, + 821.4676712906039, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1232.5171553207276, + 824.0657475019573, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1232.5171553207276, + 824.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1232.5171553207276, + 827.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1232.5171553207276, + 830.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1232.5171553207276, + 833.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1232.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1232.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1232.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1232.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1229.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1226.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1223.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1220.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1217.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1214.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1211.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1208.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1208.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1208.5171553207276, + 836.0657475019573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1207.0171553207276, + 838.6638237133106, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1205.5171553207276, + 841.261899924664, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1140.0, + 892.0, + 1.05541 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-56-5_1312994984/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-56-5_1312994984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6e610816c2c5c66ed8ee5bfd7a105e32653493b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-56-5_1312994984/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 648.4908220246017, + 195.53617857420988, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 646.9908220246017, + 192.93810236285657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 645.4908220246017, + 190.34002615150325, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 643.9908220246017, + 187.74194994014994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 642.4908220246017, + 185.14387372879662, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 640.9908220246017, + 182.5457975174433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 639.4908220246017, + 179.94772130609, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 637.9908220246017, + 177.34964509473667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 636.4908220246017, + 174.75156888338336, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 634.9908220246017, + 172.15349267203004, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 633.4908220246017, + 169.55541646067672, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 631.9908220246017, + 166.9573402493234, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 630.4908220246017, + 164.3592640379701, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 628.9908220246017, + 161.76118782661678, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 627.4908220246017, + 159.16311161526346, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 625.9908220246017, + 156.56503540391014, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 624.4908220246017, + 153.96695919255683, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 622.9908220246017, + 151.3688829812035, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 621.4908220246017, + 148.7708067698502, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 619.9908220246017, + 146.17273055849688, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 618.4908220246017, + 143.57465434714356, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 616.9908220246017, + 140.97657813579025, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 615.4908220246017, + 138.37850192443693, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 613.9908220246017, + 135.78042571308362, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 612.4908220246017, + 133.1823495017303, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 610.9908220246017, + 130.58427329037698, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 609.4908220246017, + 127.98619707902367, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 607.9908220246017, + 125.38812086767035, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 606.4908220246017, + 122.79004465631704, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 604.9908220246017, + 120.19196844496372, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 603.4908220246017, + 117.5938922336104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 601.9908220246017, + 114.99581602225709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 600.4908220246017, + 112.39773981090377, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 598.9908220246017, + 109.79966359955046, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 597.4908220246017, + 107.20158738819714, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 595.9908220246017, + 104.60351117684382, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 594.4908220246017, + 102.00543496549051, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 592.9908220246017, + 99.40735875413719, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 591.4908220246017, + 96.80928254278388, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 591.4908220246017, + 96.80928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 588.8927458132484, + 95.30928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 586.2946696018951, + 93.80928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 583.6965933905417, + 92.30928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 581.0985171791883, + 90.80928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 578.500440967835, + 89.30928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 575.9023647564816, + 87.80928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 573.3042885451282, + 86.30928254278388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 570.7062123337748, + 84.80928254278388, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 556.0, + 64.0, + -1.13261 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-57-26_2059344234/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-57-26_2059344234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52922f29fd1941586ff4637539ea41aa1369e972 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-57-26_2059344234/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1864.67108862988, + 97.3361434280555, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1863.17108862988, + 94.73806721670218, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1861.67108862988, + 92.13999100534886, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1860.17108862988, + 89.54191479399555, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1858.67108862988, + 86.94383858264223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1857.17108862988, + 84.34576237128891, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1855.67108862988, + 81.7476861599356, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1854.17108862988, + 79.14960994858228, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1854.17108862988, + 79.14960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1851.5730124185266, + 77.64960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1848.9749362071732, + 76.14960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1846.3768599958198, + 74.64960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1843.7787837844664, + 73.14960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1841.180707573113, + 71.64960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1838.5826313617597, + 70.14960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1835.9845551504063, + 68.64960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1833.386478939053, + 67.14960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1830.7884027276996, + 65.64960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1828.1903265163462, + 64.14960994858228, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1828.1903265163462, + 64.14960994858228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1826.6903265163462, + 61.551533737228965, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1825.1903265163462, + 58.95345752587565, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1823.6903265163462, + 56.35538131452233, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1822.1903265163462, + 53.75730510316902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1820.6903265163462, + 51.1592288918157, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1819.1903265163462, + 48.561152680462385, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1817.6903265163462, + 45.96307646910907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1816.1903265163462, + 43.36500025775575, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1814.6903265163462, + 40.76692404640244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1813.1903265163462, + 38.16884783504912, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1811.6903265163462, + 35.570771623695805, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1810.1903265163462, + 32.97269541234249, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1808.6903265163462, + 30.374619200989173, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1807.1903265163462, + 27.776542989635857, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1805.6903265163462, + 25.17846677828254, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1804.1903265163462, + 22.580390566929225, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1802.6903265163462, + 19.98231435557591, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1801.1903265163462, + 17.384238144222593, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1799.6903265163462, + 14.786161932869277, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1798.1903265163462, + 12.18808572151596, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1796.6903265163462, + 9.590009510162645, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1796.6903265163462, + 9.590009510162645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1796.6903265163462, + 6.590009510162645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1796.6903265163462, + 3.590009510162645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1796.6903265163462, + 0.5900095101626448, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1796.6903265163462, + -2.409990489837355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1796.6903265163462, + -5.409990489837355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1796.6903265163462, + -8.409990489837355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1796.6903265163462, + -11.409990489837355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1796.6903265163462, + -14.409990489837355, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1796.6903265163462, + -17.409990489837355, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1784.0, + -44.0, + 0.756577 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-58-15_738647283/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-58-15_738647283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b466edc40b03cf286f45140224657d98dea50feb --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-58-15_738647283/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -146.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -143.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -140.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -137.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -134.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -131.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -128.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -125.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -122.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -119.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -116.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -113.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -110.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.01656139916756, + -429.47324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -104.41848518781424, + -427.97324512564995, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -104.41848518781424, + -427.97324512564995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -102.91848518781424, + -425.37516891429664, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -101.41848518781424, + -422.7770927029433, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.41848518781424, + -422.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -98.82040897646093, + -421.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -96.22233276510761, + -419.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -93.6242565537543, + -418.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.02618034240098, + -416.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -88.42810413104766, + -415.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -85.83002791969434, + -413.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -83.23195170834103, + -412.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -80.63387549698771, + -410.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -78.0357992856344, + -409.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -75.43772307428108, + -407.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -72.83964686292776, + -406.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -70.24157065157445, + -404.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -67.64349444022113, + -403.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -65.04541822886782, + -401.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -62.4473420175145, + -400.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -59.849265806161185, + -398.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -57.25118959480787, + -397.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -54.65311338345455, + -395.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -52.05503717210124, + -394.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -49.45696096074792, + -392.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -46.858884749394605, + -391.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -44.26080853804129, + -389.7770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -41.66273232668797, + -388.2770927029433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -39.06465611533466, + -386.7770927029433, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-59-36_51245830/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-59-36_51245830/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e15f074615fb68dde3b3c4c162481e3554741a67 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-59-36_51245830/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1354.67878467808, + 324.7694342704226, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1356.17878467808, + 327.3675104817759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1357.67878467808, + 329.96558669312924, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1359.17878467808, + 332.56366290448256, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1360.67878467808, + 335.16173911583587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1362.17878467808, + 337.7598153271892, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1363.67878467808, + 340.3578915385425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1365.17878467808, + 342.9559677498958, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1366.67878467808, + 345.55404396124914, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1368.17878467808, + 348.15212017260245, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1369.67878467808, + 350.75019638395577, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1371.17878467808, + 353.3482725953091, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1372.67878467808, + 355.9463488066624, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1374.17878467808, + 358.5444250180157, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1375.67878467808, + 361.14250122936903, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1377.17878467808, + 363.74057744072235, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1378.67878467808, + 366.33865365207566, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1378.67878467808, + 366.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1378.67878467808, + 369.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1378.67878467808, + 372.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1378.67878467808, + 375.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1378.67878467808, + 378.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1378.67878467808, + 381.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1378.67878467808, + 384.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1378.67878467808, + 387.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1378.67878467808, + 390.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1378.67878467808, + 393.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1378.67878467808, + 396.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1378.67878467808, + 399.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1378.67878467808, + 402.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1378.67878467808, + 405.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1378.67878467808, + 408.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1378.67878467808, + 411.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1378.67878467808, + 414.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1378.67878467808, + 417.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1378.67878467808, + 420.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1378.67878467808, + 423.33865365207566, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1378.67878467808, + 423.33865365207566, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1378.67878467808, + 423.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1381.2768608894335, + 424.83865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1383.8749371007868, + 426.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1386.4730133121402, + 427.83865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1389.0710895234936, + 429.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1391.669165734847, + 430.83865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1394.2672419462003, + 432.33865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1396.8653181575537, + 433.83865365207566, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1396.8653181575537, + 433.83865365207566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1398.3653181575537, + 436.436729863429, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1399.8653181575537, + 439.0348060747823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1401.3653181575537, + 441.6328822861356, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1402.8653181575537, + 444.2309584974889, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1404.3653181575537, + 446.82903470884224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1405.8653181575537, + 449.42711092019556, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1407.3653181575537, + 452.0251871315489, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1408.8653181575537, + 454.6232633429022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1410.3653181575537, + 457.2213395542555, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1411.8653181575537, + 459.8194157656088, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + 484.0, + -10.4725 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-59-8_94307398/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-59-8_94307398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b5640369b9df2c307a667f813169a9e0831fda2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-59-8_94307398/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 679.5309119166872, + -38.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 682.5309119166872, + -38.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 685.5309119166872, + -38.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 688.5309119166872, + -38.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 691.5309119166872, + -38.16269777695547, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 691.5309119166872, + -38.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 694.1289881280404, + -39.66269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 696.7270643393938, + -41.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 699.3251405507472, + -42.66269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 701.9232167621005, + -44.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 704.5212929734539, + -45.66269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 707.1193691848073, + -47.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 709.7174453961607, + -48.66269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 712.315521607514, + -50.16269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 714.9135978188674, + -51.66269777695547, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 714.9135978188674, + -51.66269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 717.9135978188674, + -51.66269777695547, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 717.9135978188674, + -51.66269777695547, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 717.9135978188674, + -51.66269777695547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 719.4135978188674, + -54.260773988308785, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 720.9135978188674, + -56.8588501996621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 722.4135978188674, + -59.45692641101542, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 723.9135978188674, + -62.05500262236873, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 725.4135978188674, + -64.65307883372205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 726.9135978188674, + -67.25115504507536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 728.4135978188674, + -69.84923125642868, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 729.9135978188674, + -72.447307467782, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 731.4135978188674, + -75.04538367913531, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 732.9135978188674, + -77.64345989048863, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 734.4135978188674, + -80.24153610184194, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 735.9135978188674, + -82.83961231319526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 737.4135978188674, + -85.43768852454858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 738.9135978188674, + -88.03576473590189, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 740.4135978188674, + -90.63384094725521, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 741.9135978188674, + -93.23191715860852, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 743.4135978188674, + -95.82999336996184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 744.9135978188674, + -98.42806958131516, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 746.4135978188674, + -101.02614579266847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 747.9135978188674, + -103.62422200402179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 749.4135978188674, + -106.2222982153751, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 750.9135978188674, + -108.82037442672842, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 752.4135978188674, + -111.41845063808174, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 753.9135978188674, + -114.01652684943505, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 755.4135978188674, + -116.61460306078837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 756.9135978188674, + -119.21267927214168, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 758.4135978188674, + -121.810755483495, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 759.9135978188674, + -124.40883169484832, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 761.4135978188674, + -127.00690790620163, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 762.9135978188674, + -129.60498411755495, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 764.4135978188674, + -132.20306032890826, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 765.9135978188674, + -134.80113654026158, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 767.4135978188674, + -137.3992127516149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 768.9135978188674, + -139.9972889629682, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 770.4135978188674, + -142.59536517432153, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 771.9135978188674, + -145.19344138567484, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 773.4135978188674, + -147.79151759702816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 774.9135978188674, + -150.38959380838148, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + -168.0, + -3.30387 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-7-24_395279207/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-7-24_395279207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65dc19d9811410db1ae55dedbcd71155f9a88e1c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-7-24_395279207/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1946.31127216604, + 711.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1943.7131959546866, + 712.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1941.1151197433333, + 714.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1938.5170435319799, + 715.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1935.9189673206265, + 717.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1933.3208911092731, + 718.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1930.7228148979198, + 720.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1928.1247386865664, + 721.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1925.526662475213, + 723.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1922.9285862638596, + 724.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1920.3305100525063, + 726.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1917.732433841153, + 727.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1915.1343576297995, + 729.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1912.5362814184462, + 730.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1909.9382052070928, + 732.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1907.3401289957394, + 733.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1904.742052784386, + 735.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1902.1439765730327, + 736.6384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1899.5459003616793, + 738.1384759403229, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1899.5459003616793, + 738.1384759403229, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1898.0459003616793, + 740.7365521516763, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1896.5459003616793, + 743.3346283630297, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1895.0459003616793, + 745.932704574383, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1893.5459003616793, + 748.5307807857364, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1892.0459003616793, + 751.1288569970898, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1890.5459003616793, + 753.7269332084431, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1889.0459003616793, + 756.3250094197965, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1887.5459003616793, + 758.9230856311499, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1886.0459003616793, + 761.5211618425033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1884.5459003616793, + 764.1192380538566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1883.0459003616793, + 766.71731426521, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1881.5459003616793, + 769.3153904765634, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1881.5459003616793, + 769.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1881.5459003616793, + 772.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1881.5459003616793, + 775.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1881.5459003616793, + 778.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1881.5459003616793, + 781.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1881.5459003616793, + 784.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1881.5459003616793, + 787.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1881.5459003616793, + 790.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1881.5459003616793, + 793.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1881.5459003616793, + 796.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1881.5459003616793, + 799.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1881.5459003616793, + 802.3153904765634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1881.5459003616793, + 805.3153904765634, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1856.0, + 840.0, + -10.4725 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-8-37_435889744/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-8-37_435889744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58c9800cf679061a2821893c956ec9db9e9aef04 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_1-8-37_435889744/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1918.8034366244183, + 32.16680433665063, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1916.205360413065, + 30.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1913.6072842017115, + 29.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1911.0092079903582, + 27.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1908.4111317790048, + 26.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1905.8130555676514, + 24.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1903.214979356298, + 23.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1900.6169031449447, + 21.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1898.0188269335913, + 20.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1895.420750722238, + 18.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1892.8226745108846, + 17.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1890.2245982995312, + 15.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1887.6265220881778, + 14.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1885.0284458768244, + 12.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1882.430369665471, + 11.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1879.8322934541177, + 9.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1877.2342172427643, + 8.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1874.636141031411, + 6.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1872.0380648200576, + 5.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1869.4399886087042, + 3.666804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1866.8419123973508, + 2.166804336650628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1864.2438361859975, + 0.6668043366506284, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1864.2438361859975, + 0.6668043366506284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1862.7438361859975, + -1.9312718747026876, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1862.7438361859975, + -1.9312718747026876, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1860.145759974644, + -3.4312718747026874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1857.5476837632907, + -4.931271874702687, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1854.9496075519373, + -6.431271874702687, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1852.351531340584, + -7.931271874702687, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1849.7534551292306, + -9.431271874702686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1847.1553789178772, + -10.931271874702686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1844.5573027065238, + -12.431271874702686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1841.9592264951705, + -13.931271874702686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1839.361150283817, + -15.431271874702686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1836.7630740724637, + -16.931271874702684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1834.1649978611104, + -18.431271874702684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1831.566921649757, + -19.931271874702684, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1784.0, + -44.0, + 0.756577 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-14-45_513937457/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-14-45_513937457/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cebb49ff80756d705fda118f47dc62a3b647d38f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-14-45_513937457/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 791.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 794.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 797.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 800.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 803.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 806.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 809.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 812.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 815.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 818.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 821.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 824.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 827.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 830.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 833.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 836.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 839.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 842.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 845.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 848.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 851.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 851.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 851.9238814668529, + 524.0771056753181, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 853.4238814668529, + 521.4790294639647, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 854.9238814668529, + 518.8809532526113, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 856.4238814668529, + 516.282877041258, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 857.9238814668529, + 513.6848008299046, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 859.4238814668529, + 511.0867246185513, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 859.4238814668529, + 511.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 862.0219576782063, + 509.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 864.6200338895596, + 508.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 867.218110100913, + 506.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 869.8161863122664, + 505.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 872.4142625236198, + 503.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 875.0123387349731, + 502.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 877.6104149463265, + 500.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 880.2084911576799, + 499.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 882.8065673690332, + 497.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 885.4046435803866, + 496.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 888.00271979174, + 494.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 890.6007960030934, + 493.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 893.1988722144467, + 491.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 895.7969484258001, + 490.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 898.3950246371535, + 488.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 900.9931008485069, + 487.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 903.5911770598602, + 485.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 906.1892532712136, + 484.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 908.787329482567, + 482.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 911.3854056939203, + 481.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 913.9834819052737, + 479.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 916.5815581166271, + 478.0867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 919.1796343279805, + 476.5867246185513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 921.7777105393338, + 475.0867246185513, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-2-14_1089653714/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-2-14_1089653714/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b006047bbc1b4d591f3e5828f4ebcf644020520c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-2-14_1089653714/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 563.3038600356037, + -56.25734851706747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 564.8038600356037, + -58.855424728420786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 566.3038600356037, + -61.4535009397741, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 567.8038600356037, + -64.05157715112742, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 569.3038600356037, + -66.64965336248073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 570.8038600356037, + -69.24772957383405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 572.3038600356037, + -71.84580578518737, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 573.8038600356037, + -74.44388199654068, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 573.8038600356037, + -74.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 573.8038600356037, + -77.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 573.8038600356037, + -80.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 573.8038600356037, + -83.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 573.8038600356037, + -86.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 573.8038600356037, + -89.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 573.8038600356037, + -92.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 573.8038600356037, + -95.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 573.8038600356037, + -98.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 573.8038600356037, + -101.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 573.8038600356037, + -104.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 573.8038600356037, + -107.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 573.8038600356037, + -110.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 573.8038600356037, + -113.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 573.8038600356037, + -116.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 573.8038600356037, + -119.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 573.8038600356037, + -122.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 573.8038600356037, + -125.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 573.8038600356037, + -128.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 573.8038600356037, + -131.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 573.8038600356037, + -134.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 573.8038600356037, + -137.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 573.8038600356037, + -140.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 573.8038600356037, + -143.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 573.8038600356037, + -146.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 573.8038600356037, + -149.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 573.8038600356037, + -152.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 573.8038600356037, + -155.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 573.8038600356037, + -158.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 573.8038600356037, + -161.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 573.8038600356037, + -164.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 573.8038600356037, + -167.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 573.8038600356037, + -170.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 573.8038600356037, + -173.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 573.8038600356037, + -176.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 573.8038600356037, + -179.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 573.8038600356037, + -182.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 573.8038600356037, + -185.44388199654068, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 573.8038600356037, + -185.44388199654068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 572.3038600356037, + -188.041958207894, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 570.8038600356037, + -190.64003441924731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 569.3038600356037, + -193.23811063060063, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 567.8038600356037, + -195.83618684195395, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 566.3038600356037, + -198.43426305330726, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 564.0, + -220.0, + 16.8381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-24-2_695748720/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-24-2_695748720/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0848469bccd5425063005a77edc8873018b41b6e --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-24-2_695748720/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 360.30039854204034, + 322.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 360.30039854204034, + 325.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 360.30039854204034, + 328.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 360.30039854204034, + 331.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 360.30039854204034, + 334.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 360.30039854204034, + 337.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 360.30039854204034, + 340.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 360.30039854204034, + 343.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 360.30039854204034, + 346.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 360.30039854204034, + 349.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 360.30039854204034, + 352.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 360.30039854204034, + 355.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 360.30039854204034, + 358.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 360.30039854204034, + 361.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 360.30039854204034, + 364.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 360.30039854204034, + 367.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 360.30039854204034, + 370.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 360.30039854204034, + 373.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 360.30039854204034, + 376.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 360.30039854204034, + 379.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 360.30039854204034, + 382.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 360.30039854204034, + 385.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.30039854204034, + 388.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 360.30039854204034, + 391.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 360.30039854204034, + 394.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 360.30039854204034, + 397.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 360.30039854204034, + 400.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 360.30039854204034, + 403.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 360.30039854204034, + 406.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 360.30039854204034, + 409.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 360.30039854204034, + 412.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 360.30039854204034, + 415.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 360.30039854204034, + 418.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 360.30039854204034, + 421.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 360.30039854204034, + 424.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 360.30039854204034, + 427.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 360.30039854204034, + 430.43114225041984, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 360.30039854204034, + 430.43114225041984, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 358.80039854204034, + 433.02921846177316, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 357.30039854204034, + 435.62729467312647, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 355.80039854204034, + 438.2253708844798, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 354.30039854204034, + 440.8234470958331, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 352.80039854204034, + 443.4215233071864, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 351.30039854204034, + 446.01959951853974, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 349.80039854204034, + 448.61767572989305, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 348.30039854204034, + 451.21575194124637, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 346.80039854204034, + 453.8138281525997, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 345.30039854204034, + 456.411904363953, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.0, + 484.0, + -1.13109 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-27-13_245798898/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-27-13_245798898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec2e6d68cc360eb97c5580f42b3fdaede779b507 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-27-13_245798898/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -92.2963056175279, + -235.3580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -89.69822940617459, + -236.8580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -87.10015319482127, + -238.3580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -84.50207698346796, + -239.8580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.90400077211464, + -241.3580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -79.30592456076133, + -242.8580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -76.70784834940801, + -244.3580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -74.1097721380547, + -245.8580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -71.51169592670138, + -247.3580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -68.91361971534806, + -248.8580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -66.31554350399475, + -250.3580386219816, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -66.31554350399475, + -250.3580386219816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -64.81554350399475, + -252.9561148333349, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -63.315543503994746, + -255.55419104468822, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -61.815543503994746, + -258.15226725604157, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -60.315543503994746, + -260.7503434673949, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -58.815543503994746, + -263.3484196787482, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.315543503994746, + -265.9464958901015, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -55.815543503994746, + -268.54457210145483, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -54.315543503994746, + -271.14264831280815, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -52.815543503994746, + -273.74072452416146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.315543503994746, + -276.3388007355148, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -49.815543503994746, + -278.9368769468681, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -48.315543503994746, + -281.5349531582214, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -46.815543503994746, + -284.13302936957473, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -45.315543503994746, + -286.73110558092804, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -43.815543503994746, + -289.32918179228136, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -42.315543503994746, + -291.9272580036347, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -40.815543503994746, + -294.525334214988, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -39.315543503994746, + -297.1234104263413, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -37.815543503994746, + -299.7214866376946, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -36.315543503994746, + -302.31956284904794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -34.815543503994746, + -304.91763906040126, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -33.315543503994746, + -307.5157152717546, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -31.815543503994746, + -310.1137914831079, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -30.315543503994746, + -312.7118676944612, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -28.815543503994746, + -315.3099439058145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -27.315543503994746, + -317.90802011716784, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-3-36_410134047/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-3-36_410134047/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..416770a81b73b84431be3924baad76405ebaf104 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-3-36_410134047/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1447.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1444.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1441.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1438.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1435.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1432.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1429.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1426.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1426.5330987753475, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1423.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1423.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1420.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1417.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1414.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1411.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1408.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1405.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1402.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1399.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1396.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1393.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1390.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1387.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1384.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1381.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1378.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1375.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1372.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1369.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1366.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1363.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1360.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1357.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1357.9350225639942, + 914.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1355.3369463526408, + 913.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1352.7388701412874, + 911.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1350.140793929934, + 910.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1347.5427177185807, + 908.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1344.9446415072273, + 907.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1342.346565295874, + 905.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1339.7484890845205, + 904.4974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1337.1504128731672, + 902.9974539658695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1334.5523366618138, + 901.4974539658695, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1296.0, + 896.0, + 0.734581 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-3-7_168057522/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-3-7_168057522/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af927e4a0c3d3d79fa60a62eca426d68333513b1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-3-7_168057522/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1804.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1807.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1810.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1813.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1816.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1819.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1822.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1822.0528452964684, + 63.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1824.6509215078217, + 62.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1827.2489977191751, + 60.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1829.8470739305285, + 59.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1832.4451501418819, + 57.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1835.0432263532352, + 56.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1837.6413025645886, + 54.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1840.239378775942, + 53.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1842.8374549872954, + 51.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1845.4355311986487, + 50.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1848.033607410002, + 48.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1850.6316836213555, + 47.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1853.2297598327089, + 45.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1855.8278360440622, + 44.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1858.4259122554156, + 42.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1861.023988466769, + 41.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1863.6220646781223, + 39.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1866.2201408894757, + 38.28085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1868.818217100829, + 36.78085591512334, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1868.818217100829, + 36.78085591512334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1870.318217100829, + 34.182779703770024, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1871.818217100829, + 31.584703492416708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1873.318217100829, + 28.98662728106339, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1874.818217100829, + 26.388551069710076, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1876.318217100829, + 23.79047485835676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1877.818217100829, + 21.192398647003444, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1879.318217100829, + 18.594322435650128, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1880.818217100829, + 15.996246224296812, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1882.318217100829, + 13.398170012943496, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1883.818217100829, + 10.80009380159018, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1885.318217100829, + 8.202017590236863, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1886.818217100829, + 5.6039413788835475, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1888.318217100829, + 3.0058651675302315, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1889.818217100829, + 0.40778895617691546, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1891.318217100829, + -2.1902872551764005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1892.818217100829, + -4.788363466529717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1894.318217100829, + -7.386439677883033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1895.818217100829, + -9.984515889236349, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1897.318217100829, + -12.582592100589665, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1898.818217100829, + -15.18066831194298, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1900.318217100829, + -17.778744523296297, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1901.818217100829, + -20.376820734649613, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1903.318217100829, + -22.97489694600293, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1904.818217100829, + -25.572973157356245, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1906.318217100829, + -28.17104936870956, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1907.818217100829, + -30.769125580062877, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1909.318217100829, + -33.36720179141619, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1910.818217100829, + -35.96527800276951, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1912.318217100829, + -38.563354214122825, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1913.818217100829, + -41.16143042547614, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1915.318217100829, + -43.75950663682946, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1916.818217100829, + -46.35758284818277, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1916.818217100829, + -46.35758284818277, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1916.818217100829, + -46.35758284818277, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1919.818217100829, + -46.35758284818277, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-43-35_1158381494/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-43-35_1158381494/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39a4a5d6112bfacd3696797de2c918e9e0eb71e0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-43-35_1158381494/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 780.7323040015549, + 258.9257447863527, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 779.2323040015549, + 261.523820997706, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 777.7323040015549, + 264.12189720905934, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 776.2323040015549, + 266.71997342041266, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 774.7323040015549, + 269.318049631766, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 774.7323040015549, + 269.318049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 772.1342277902015, + 270.818049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 769.5361515788481, + 272.318049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 766.9380753674948, + 273.818049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 764.3399991561414, + 275.318049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 761.741922944788, + 276.818049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 759.1438467334347, + 278.318049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 756.5457705220813, + 279.818049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 753.9476943107279, + 281.318049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 751.3496180993745, + 282.818049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 748.7515418880212, + 284.318049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 746.1534656766678, + 285.818049631766, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 746.1534656766678, + 285.818049631766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 744.6534656766678, + 288.4161258431193, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 743.1534656766678, + 291.0142020544726, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 741.6534656766678, + 293.6122782658259, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 740.1534656766678, + 296.21035447717924, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 738.6534656766678, + 298.80843068853255, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 737.1534656766678, + 301.40650689988587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 735.6534656766678, + 304.0045831112392, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 734.1534656766678, + 306.6026593225925, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 732.6534656766678, + 309.2007355339458, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 731.1534656766678, + 311.79881174529913, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 729.6534656766678, + 314.39688795665245, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 728.1534656766678, + 316.99496416800577, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 726.6534656766678, + 319.5930403793591, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 725.1534656766678, + 322.1911165907124, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 723.6534656766678, + 324.7891928020657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 722.1534656766678, + 327.38726901341903, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 720.6534656766678, + 329.98534522477235, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 719.1534656766678, + 332.58342143612566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 717.6534656766678, + 335.181497647479, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 716.1534656766678, + 337.7795738588323, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 714.6534656766678, + 340.3776500701856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 713.1534656766678, + 342.9757262815389, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 711.6534656766678, + 345.57380249289224, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 711.6534656766678, + 345.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 711.6534656766678, + 348.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 711.6534656766678, + 351.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 711.6534656766678, + 354.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 711.6534656766678, + 357.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 711.6534656766678, + 360.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 711.6534656766678, + 363.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 711.6534656766678, + 366.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 711.6534656766678, + 369.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 711.6534656766678, + 372.57380249289224, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 711.6534656766678, + 375.57380249289224, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 400.0, + -0.375042 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-50-28_1534230297/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-50-28_1534230297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad5dfa0d34f8986f79d5c6a0bc8ff85fddec6e9e --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-50-28_1534230297/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1782.0430923700906, + 699.1678933146748, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1783.5430923700906, + 696.5698171033214, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1785.0430923700906, + 693.971740891968, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1786.5430923700906, + 691.3736646806146, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1788.0430923700906, + 688.7755884692613, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1789.5430923700906, + 686.1775122579079, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1791.0430923700906, + 683.5794360465545, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1792.5430923700906, + 680.9813598352011, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1794.0430923700906, + 678.3832836238478, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1795.5430923700906, + 675.7852074124944, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1797.0430923700906, + 673.187131201141, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1798.5430923700906, + 670.5890549897877, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1800.0430923700906, + 667.9909787784343, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1801.5430923700906, + 665.3929025670809, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1801.5430923700906, + 665.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1801.5430923700906, + 662.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1801.5430923700906, + 659.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1801.5430923700906, + 656.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1801.5430923700906, + 653.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1801.5430923700906, + 650.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1801.5430923700906, + 647.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1801.5430923700906, + 644.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1801.5430923700906, + 641.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1801.5430923700906, + 638.3929025670809, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1801.5430923700906, + 638.3929025670809, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1803.0430923700906, + 635.7948263557275, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1803.0430923700906, + 635.7948263557275, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1805.641168581444, + 634.2948263557275, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1808.2392447927973, + 632.7948263557275, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1810.8373210041507, + 631.2948263557275, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1813.435397215504, + 629.7948263557275, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1813.435397215504, + 629.7948263557275, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1814.935397215504, + 627.1967501443742, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1816.435397215504, + 624.5986739330208, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1817.935397215504, + 622.0005977216674, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1819.435397215504, + 619.402521510314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1820.935397215504, + 616.8044452989607, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1822.435397215504, + 614.2063690876073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1823.935397215504, + 611.6082928762539, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1825.435397215504, + 609.0102166649006, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1826.935397215504, + 606.4121404535472, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1828.435397215504, + 603.8140642421938, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1829.935397215504, + 601.2159880308404, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1831.435397215504, + 598.6179118194871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1832.935397215504, + 596.0198356081337, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1834.435397215504, + 593.4217593967803, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1835.935397215504, + 590.823683185427, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1837.435397215504, + 588.2256069740736, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1838.935397215504, + 585.6275307627202, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1840.435397215504, + 583.0294545513668, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1841.935397215504, + 580.4313783400135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1843.435397215504, + 577.8333021286601, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1844.935397215504, + 575.2352259173067, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1846.435397215504, + 572.6371497059533, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1847.935397215504, + 570.0390734946, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1849.435397215504, + 567.4409972832466, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1849.435397215504, + 567.4409972832466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1849.435397215504, + 564.4409972832466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1849.435397215504, + 561.4409972832466, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-8-37_356684278/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-8-37_356684278/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20e180dcaf00c363a32b433fc7204999fa20e915 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_2-8-37_356684278/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.381694458703834, + -221.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -58.381694458703834, + -224.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -58.381694458703834, + -227.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -58.381694458703834, + -230.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -58.381694458703834, + -233.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -58.381694458703834, + -236.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -58.381694458703834, + -239.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -58.381694458703834, + -242.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -58.381694458703834, + -245.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -58.381694458703834, + -248.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -58.381694458703834, + -251.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -58.381694458703834, + -254.42373894336205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -58.381694458703834, + -257.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -58.381694458703834, + -260.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -58.381694458703834, + -263.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -58.381694458703834, + -266.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -58.381694458703834, + -269.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -58.381694458703834, + -272.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -58.381694458703834, + -275.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -58.381694458703834, + -278.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -58.381694458703834, + -281.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -58.381694458703834, + -284.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -58.381694458703834, + -287.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -58.381694458703834, + -290.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -58.381694458703834, + -293.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -58.381694458703834, + -296.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -58.381694458703834, + -299.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -58.381694458703834, + -302.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -58.381694458703834, + -305.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -58.381694458703834, + -308.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -58.381694458703834, + -311.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -58.381694458703834, + -314.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -58.381694458703834, + -317.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -58.381694458703834, + -320.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -58.381694458703834, + -323.4237389433621, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -58.381694458703834, + -323.4237389433621, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -59.881694458703834, + -326.0218151547154, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -61.381694458703834, + -328.6198913660687, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -62.881694458703834, + -331.21796757742203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -64.38169445870383, + -333.81604378877535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -65.88169445870383, + -336.41412000012866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -67.38169445870383, + -339.012196211482, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -68.88169445870383, + -341.6102724228353, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -70.38169445870383, + -344.2083486341886, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -71.88169445870383, + -346.8064248455419, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -73.38169445870383, + -349.40450105689524, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -74.88169445870383, + -352.00257726824856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -76.38169445870383, + -354.6006534796019, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -77.88169445870383, + -357.1987296909552, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -79.38169445870383, + -359.7968059023085, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -80.88169445870383, + -362.3948821136618, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -82.38169445870383, + -364.99295832501514, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + -380.0, + -1.13129 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-15-25_1390543437/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-15-25_1390543437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd8e808fc17992acb436eca26ae95517567c20a9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-15-25_1390543437/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1860.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1863.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1866.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1869.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1872.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1875.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1878.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1878.747447097916, + 349.7295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1881.3455233092693, + 351.2295743062792, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1881.3455233092693, + 351.2295743062792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1882.8455233092693, + 353.8276505176325, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1884.3455233092693, + 356.4257267289858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1885.8455233092693, + 359.0238029403391, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1887.3455233092693, + 361.62187915169244, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1887.3455233092693, + 361.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1889.9435995206227, + 363.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1892.541675731976, + 364.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1895.1397519433294, + 366.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1897.7378281546828, + 367.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1900.3359043660362, + 369.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1902.9339805773895, + 370.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1905.532056788743, + 372.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1908.1301330000963, + 373.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1910.7282092114497, + 375.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1913.326285422803, + 376.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1915.9243616341564, + 378.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1918.5224378455098, + 379.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1921.1205140568632, + 381.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1923.7185902682165, + 382.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1926.31666647957, + 384.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1928.9147426909233, + 385.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1931.5128189022766, + 387.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1934.11089511363, + 388.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1936.7089713249834, + 390.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1939.3070475363368, + 391.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1941.9051237476901, + 393.12187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1944.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1944.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1947.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1950.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1953.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1956.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1959.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1962.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1965.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1968.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1971.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1974.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1977.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1980.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1983.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1986.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1989.5031999590435, + 394.62187915169244, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-16-43_1867107722/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-16-43_1867107722/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64e5daa2daf9a6b0eaa1bc71efc0b1b37aedff32 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-16-43_1867107722/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 778.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 781.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 784.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 787.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 790.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 793.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 796.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 799.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 802.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 805.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 808.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 811.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 814.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 817.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 820.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 823.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 826.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 829.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 832.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 835.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 838.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 841.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 844.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 847.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 850.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 850.5798762059802, + 343.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 853.1779524173335, + 342.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 855.7760286286868, + 340.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 858.3741048400402, + 339.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 860.9721810513936, + 337.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 863.570257262747, + 336.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 866.1683334741003, + 334.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 868.7664096854537, + 333.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 871.3644858968071, + 331.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 873.9625621081605, + 330.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 876.5606383195138, + 328.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 879.1587145308672, + 327.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 881.7567907422206, + 325.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 884.354866953574, + 324.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 886.9529431649273, + 322.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 889.5510193762807, + 321.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 892.1490955876341, + 319.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 894.7471717989874, + 318.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 897.3452480103408, + 316.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 899.9433242216942, + 315.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 902.5414004330476, + 313.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 905.1394766444009, + 312.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 907.7375528557543, + 310.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 910.3356290671077, + 309.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 912.933705278461, + 307.7616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 915.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 915.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 918.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 921.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 924.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 927.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 927.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 927.5317814898144, + 306.2616823268909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 929.0317814898144, + 303.66360611553756, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 930.5317814898144, + 301.06552990418425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 932.0317814898144, + 298.46745369283093, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 944.0, + 292.0, + 1.52855 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-19-43_846621269/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-19-43_846621269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..326e2afc5a9deb01fe512ab6ff00c1f1570f06bf --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-19-43_846621269/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1973.5065494312453, + 710.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1970.908473219892, + 711.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1968.3103970085385, + 713.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1965.7123207971852, + 714.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1963.1142445858318, + 716.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1960.5161683744784, + 717.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1957.918092163125, + 719.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1955.3200159517717, + 720.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1952.7219397404183, + 722.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1950.123863529065, + 723.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1947.5257873177115, + 725.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1944.9277111063582, + 726.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1942.3296348950048, + 728.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1939.7315586836514, + 729.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1937.133482472298, + 731.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1934.5354062609447, + 732.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1931.9373300495913, + 734.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1929.339253838238, + 735.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1926.7411776268846, + 737.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1924.1431014155312, + 738.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1921.5450252041778, + 740.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1918.9469489928244, + 741.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1916.348872781471, + 743.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1913.7507965701177, + 744.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1911.1527203587643, + 746.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1908.554644147411, + 747.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1905.9565679360576, + 749.2582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1903.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1903.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1900.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1897.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1894.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1894.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1894.3584917247042, + 750.7582076639799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1892.8584917247042, + 753.3562838753332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1891.3584917247042, + 755.9543600866866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1889.8584917247042, + 758.55243629804, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1888.3584917247042, + 761.1505125093934, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1886.8584917247042, + 763.7485887207467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1885.3584917247042, + 766.3466649321001, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1883.8584917247042, + 768.9447411434535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1882.3584917247042, + 771.5428173548069, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1882.3584917247042, + 771.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1882.3584917247042, + 774.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1882.3584917247042, + 777.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1882.3584917247042, + 780.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1882.3584917247042, + 783.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1882.3584917247042, + 786.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1882.3584917247042, + 789.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1882.3584917247042, + 792.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1882.3584917247042, + 795.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1882.3584917247042, + 798.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1882.3584917247042, + 801.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1882.3584917247042, + 804.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1882.3584917247042, + 807.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1882.3584917247042, + 810.5428173548069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1882.3584917247042, + 813.5428173548069, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1856.0, + 840.0, + -10.4725 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-3-46_2010794583/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-3-46_2010794583/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01e4d89708c4ced51c4826ecd06a06028701de1e --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-3-46_2010794583/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 770.2791442403947, + -81.7080454211497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 770.2791442403947, + -78.7080454211497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 770.2791442403947, + -75.7080454211497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 770.2791442403947, + -72.7080454211497, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 770.2791442403947, + -72.7080454211497, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 771.7791442403947, + -70.10996920979639, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 773.2791442403947, + -67.51189299844307, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 773.2791442403947, + -67.51189299844307, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 773.2791442403947, + -64.51189299844307, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 773.2791442403947, + -61.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 773.2791442403947, + -58.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 773.2791442403947, + -55.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 773.2791442403947, + -52.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 773.2791442403947, + -49.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 773.2791442403947, + -46.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 773.2791442403947, + -43.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 773.2791442403947, + -40.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 773.2791442403947, + -37.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 773.2791442403947, + -34.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 773.2791442403947, + -31.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 773.2791442403947, + -28.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 773.2791442403947, + -25.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 773.2791442403947, + -22.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 773.2791442403947, + -19.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 773.2791442403947, + -16.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 773.2791442403947, + -13.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 773.2791442403947, + -10.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 773.2791442403947, + -7.511892998443074, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 773.2791442403947, + -7.511892998443074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 771.7791442403947, + -4.9138167870897576, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 770.2791442403947, + -2.3157405757364415, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 768.7791442403947, + 0.28233563561687447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 767.2791442403947, + 2.8804118469701905, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 765.7791442403947, + 5.4784880583235065, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 764.2791442403947, + 8.076564269676823, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 762.7791442403947, + 10.674640481030139, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 761.2791442403947, + 13.272716692383455, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 759.7791442403947, + 15.87079290373677, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 758.2791442403947, + 18.468869115090087, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 756.7791442403947, + 21.066945326443403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 755.2791442403947, + 23.66502153779672, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 753.7791442403947, + 26.263097749150035, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 752.2791442403947, + 28.86117396050335, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 750.7791442403947, + 31.459250171856667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 749.2791442403947, + 34.05732638320998, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 747.7791442403947, + 36.6554025945633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 746.2791442403947, + 39.253478805916615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 744.7791442403947, + 41.85155501726993, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 743.2791442403947, + 44.44963122862325, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-36-57_1000372555/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-36-57_1000372555/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e562d52fe84a58536ffa5448cea7e932340d819b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-36-57_1000372555/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -54.75618576084071, + 343.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.75618576084071, + 340.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -54.75618576084071, + 337.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.75618576084071, + 334.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -54.75618576084071, + 331.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.75618576084071, + 328.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -54.75618576084071, + 325.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -54.75618576084071, + 322.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -54.75618576084071, + 319.64071861221043, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -54.75618576084071, + 319.64071861221043, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -54.75618576084071, + 319.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -52.15810954948739, + 318.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.560033338134076, + 316.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -46.96195712678076, + 315.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -44.363880915427444, + 313.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -41.76580470407413, + 312.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -39.16772849272081, + 310.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -36.569652281367496, + 309.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -33.97157607001418, + 307.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -31.373499858660864, + 306.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -28.775423647307548, + 304.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.177347435954232, + 303.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -23.579271224600916, + 301.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -20.9811950132476, + 300.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -18.383118801894284, + 298.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -15.785042590540968, + 297.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -13.186966379187652, + 295.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -10.588890167834336, + 294.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.99081395648102, + 292.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -5.392737745127704, + 291.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -2.794661533774388, + 289.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -0.19658532242107185, + 288.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 2.401490888932244, + 286.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 4.99956710028556, + 285.14071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 7.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 7.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 10.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 13.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 16.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 19.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 22.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 25.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 28.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 31.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 34.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 37.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 40.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 43.597643311638876, + 283.64071861221043, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-4-10_305197314/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-4-10_305197314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e323a797b802f2c20471889267edd1d15a801b4b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-4-10_305197314/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1357.9669828999283, + 323.7665442357587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1359.4669828999283, + 326.36462044711203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1360.9669828999283, + 328.96269665846535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1362.4669828999283, + 331.56077286981866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1363.9669828999283, + 334.158849081172, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.4669828999283, + 336.7569252925253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1366.9669828999283, + 339.3550015038786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1368.4669828999283, + 341.9530777152319, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1369.9669828999283, + 344.55115392658524, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1371.4669828999283, + 347.14923013793856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1372.9669828999283, + 349.7473063492919, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1374.4669828999283, + 352.3453825606452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1375.9669828999283, + 354.9434587719985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1377.4669828999283, + 357.5415349833518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1378.9669828999283, + 360.13961119470514, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1380.4669828999283, + 362.73768740605846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1381.9669828999283, + 365.33576361741177, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1381.9669828999283, + 365.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1381.9669828999283, + 368.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1381.9669828999283, + 371.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.9669828999283, + 374.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1381.9669828999283, + 377.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1381.9669828999283, + 380.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1381.9669828999283, + 383.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1381.9669828999283, + 386.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1381.9669828999283, + 389.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1381.9669828999283, + 392.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1381.9669828999283, + 395.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1381.9669828999283, + 398.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1381.9669828999283, + 401.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1381.9669828999283, + 404.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1381.9669828999283, + 407.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1381.9669828999283, + 410.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1381.9669828999283, + 413.33576361741177, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1381.9669828999283, + 413.33576361741177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1383.4669828999283, + 415.9338398287651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1384.9669828999283, + 418.5319160401184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1386.4669828999283, + 421.1299922514717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1387.9669828999283, + 423.72806846282504, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1389.4669828999283, + 426.32614467417835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1390.9669828999283, + 428.92422088553167, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1392.4669828999283, + 431.522297096885, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1393.9669828999283, + 434.1203733082383, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1395.4669828999283, + 436.7184495195916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1396.9669828999283, + 439.31652573094493, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1398.4669828999283, + 441.91460194229825, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1399.9669828999283, + 444.51267815365156, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1401.4669828999283, + 447.1107543650049, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1402.9669828999283, + 449.7088305763582, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1404.4669828999283, + 452.3069067877115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1405.9669828999283, + 454.9049829990648, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1407.4669828999283, + 457.50305921041814, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1408.9669828999283, + 460.10113542177146, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + 484.0, + -10.4725 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-45-45_987987334/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-45-45_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc307d4b125704c44192cd2c22f5f30238418786 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-45-45_987987334/pose.jsonl @@ -0,0 +1,795 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1547.1604682413983, + 505.6956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1544.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1544.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1541.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1538.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1535.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1529.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1526.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1523.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1520.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1517.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1514.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1511.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1508.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1505.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1502.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1502.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1502.562392030045, + 504.1956692464263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1501.062392030045, + 501.597593035073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1499.562392030045, + 498.99951682371966, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1498.062392030045, + 496.40144061236634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1496.562392030045, + 493.803364401013, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1495.062392030045, + 491.2052881896597, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1493.562392030045, + 488.6072119783064, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1492.062392030045, + 486.0091357669531, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1490.562392030045, + 483.41105955559976, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1489.062392030045, + 480.81298334424645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1487.562392030045, + 478.21490713289313, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1486.062392030045, + 475.6168309215398, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1484.562392030045, + 473.0187547101865, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1483.062392030045, + 470.4206784988332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1481.562392030045, + 467.82260228747987, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1480.062392030045, + 465.22452607612655, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1478.562392030045, + 462.62644986477324, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1477.062392030045, + 460.0283736534199, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1475.562392030045, + 457.4302974420666, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1474.062392030045, + 454.8322212307133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1472.562392030045, + 452.23414501935997, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1471.062392030045, + 449.63606880800666, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1469.562392030045, + 447.03799259665334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1468.062392030045, + 444.4399163853, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1466.562392030045, + 441.8418401739467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1465.062392030045, + 439.2437639625934, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1463.562392030045, + 436.6456877512401, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1462.062392030045, + 434.04761153988676, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1462.062392030045, + 434.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1459.4643158186916, + 432.54761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1456.8662396073382, + 431.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1454.2681633959849, + 429.54761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1451.6700871846315, + 428.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1449.072010973278, + 426.54761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1446.4739347619247, + 425.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1443.8758585505714, + 423.54761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1441.277782339218, + 422.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1438.6797061278646, + 420.54761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1436.0816299165112, + 419.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1433.4835537051579, + 417.54761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1430.8854774938045, + 416.04761153988676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1428.2874012824511, + 414.54761153988676, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 400.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-50-47_915711850/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-50-47_915711850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..201b48633e1b9e916f5fac4843903cb0d3cf50c6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-50-47_915711850/pose.jsonl @@ -0,0 +1,821 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1815.1496428125754, + 143.61286237832994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1816.6496428125754, + 146.21093858968325, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1818.1496428125754, + 148.80901480103657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1819.6496428125754, + 151.40709101238988, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1821.1496428125754, + 154.0051672237432, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1822.6496428125754, + 156.60324343509652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1824.1496428125754, + 159.20131964644983, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1824.1496428125754, + 159.20131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1826.7477190239288, + 160.70131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1829.3457952352821, + 162.20131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1831.9438714466355, + 163.70131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1834.5419476579889, + 165.20131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1837.1400238693423, + 166.70131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1839.7381000806956, + 168.20131964644983, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1839.7381000806956, + 168.20131964644983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1841.2381000806956, + 170.79939585780315, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1842.7381000806956, + 173.39747206915646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1844.2381000806956, + 175.99554828050978, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1845.7381000806956, + 178.5936244918631, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1845.7381000806956, + 178.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1845.7381000806956, + 181.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1845.7381000806956, + 184.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1845.7381000806956, + 187.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1845.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1845.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1845.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1845.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1848.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1851.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1854.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1857.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1860.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1863.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1866.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1869.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1872.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1872.7381000806956, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1875.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1875.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1878.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1881.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1884.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1887.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1890.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1893.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1896.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1899.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1902.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1905.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1908.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1911.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1914.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1917.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1920.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1923.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1923.336176292049, + 192.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1925.9342525034024, + 190.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1928.5323287147557, + 189.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1931.1304049261091, + 187.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1933.7284811374625, + 186.0936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1936.3265573488159, + 184.5936244918631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1938.9246335601692, + 183.0936244918631, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1960.0, + 188.0, + -8.00906 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-56-47_1466942491/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-56-47_1466942491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b6fa431a00c53f5594beee26724dd0d6256f8d1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-56-47_1466942491/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1948.32566522662, + -99.78834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1945.7275890152666, + -98.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1943.1295128039133, + -96.78834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1940.5314365925599, + -95.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1937.9333603812065, + -93.78834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1935.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1935.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1932.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1929.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1926.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1923.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1920.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1917.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1917.3352841698531, + -92.28834076644699, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1914.7372079584998, + -90.78834076644699, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1784.0, + -44.0, + 0.756577 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-59-29_2078107280/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-59-29_2078107280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cdfa932fd98984d138b3e6bb56a6c03618de1c4c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-59-29_2078107280/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 499.94563855819655, + 273.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 497.34756234684323, + 272.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.7494861354899, + 270.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 492.1514099241366, + 269.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 489.5533337127833, + 267.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 486.95525750142997, + 266.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 484.35718129007665, + 264.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 481.75910507872334, + 263.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 479.16102886737, + 261.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.5629526560167, + 260.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 473.9648764446634, + 258.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 471.3668002333101, + 257.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 468.76872402195676, + 255.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 466.17064781060344, + 254.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 463.5725715992501, + 252.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 460.9744953878968, + 251.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 458.3764191765435, + 249.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 455.7783429651902, + 248.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 453.18026675383686, + 246.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 450.58219054248354, + 245.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 447.98411433113023, + 243.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 445.3860381197769, + 242.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 442.7879619084236, + 240.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 440.1898856970703, + 239.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 437.59180948571696, + 237.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 434.99373327436365, + 236.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 432.39565706301033, + 234.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 429.797580851657, + 233.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 427.1995046403037, + 231.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 424.6014284289504, + 230.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 422.00335221759707, + 228.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 419.40527600624375, + 227.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 416.80719979489044, + 225.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 414.2091235835371, + 224.25129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 411.6110473721838, + 222.75129648492145, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 411.6110473721838, + 222.75129648492145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 410.1110473721838, + 220.15322027356814, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 408.6110473721838, + 217.55514406221482, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 407.1110473721838, + 214.9570678508615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 405.6110473721838, + 212.3589916395082, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 404.1110473721838, + 209.76091542815487, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 402.6110473721838, + 207.16283921680156, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 401.1110473721838, + 204.56476300544824, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 399.6110473721838, + 201.96668679409493, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 398.1110473721838, + 199.3686105827416, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 396.6110473721838, + 196.7705343713883, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 395.1110473721838, + 194.17245816003498, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 393.6110473721838, + 191.57438194868166, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 392.1110473721838, + 188.97630573732835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 390.6110473721838, + 186.37822952597503, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 389.1110473721838, + 183.7801533146217, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 364.0, + 164.0, + 16.579 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-59-6_1289360871/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-59-6_1289360871/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b0dcf354c2928643e0991024b794e561cec2da8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-59-6_1289360871/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1748.8516465510436, + 27.312487481400794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1751.449722762397, + 25.812487481400794, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1751.449722762397, + 25.812487481400794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1752.949722762397, + 23.214411270047478, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1754.449722762397, + 20.616335058694162, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1754.449722762397, + 20.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1757.0477989737503, + 19.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1759.6458751851037, + 17.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1762.243951396457, + 16.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1764.8420276078105, + 14.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1767.4401038191638, + 13.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1770.0381800305172, + 11.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1772.6362562418706, + 10.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1775.234332453224, + 8.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1777.8324086645773, + 7.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1780.4304848759307, + 5.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1783.028561087284, + 4.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1785.6266372986374, + 2.616335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1788.2247135099908, + 1.116335058694162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1790.8227897213442, + -0.3836649413058377, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1793.4208659326976, + -1.8836649413058375, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1796.018942144051, + -3.3836649413058373, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982893 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1798.6170183554043, + -4.883664941305837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1801.2150945667577, + -6.383664941305837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1803.813170778111, + -7.883664941305837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1806.4112469894644, + -9.383664941305836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982892 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1809.0093232008178, + -10.883664941305836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1811.6073994121712, + -12.383664941305836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1814.2054756235245, + -13.883664941305836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1816.803551834878, + -15.383664941305836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1819.4016280462313, + -16.883664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982888 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1821.9997042575847, + -18.383664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1824.597780468938, + -19.883664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1827.1958566802914, + -21.383664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1829.7939328916448, + -22.883664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1832.3920091029981, + -24.383664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1834.9900853143515, + -25.883664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1837.588161525705, + -27.383664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1840.1862377370583, + -28.883664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1842.7843139484116, + -30.383664941305835, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1842.7843139484116, + -30.383664941305835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1844.2843139484116, + -32.981741152659154, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965983 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1845.7843139484116, + -35.57981736401247, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1847.2843139484116, + -38.177893575365786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1848.7843139484116, + -40.7759697867191, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1850.2843139484116, + -43.37404599807242, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1876.0, + -64.0, + 31.2239 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-6-13_1875641892/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-6-13_1875641892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94383bb6f704a4846d069b03661c5b993371061c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_3-6-13_1875641892/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.1037546250031, + 227.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1380.1037546250031, + 230.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1380.1037546250031, + 233.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1380.1037546250031, + 236.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1380.1037546250031, + 239.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1380.1037546250031, + 242.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1380.1037546250031, + 245.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1380.1037546250031, + 248.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1380.1037546250031, + 251.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1380.1037546250031, + 254.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1380.1037546250031, + 257.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1380.1037546250031, + 260.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1380.1037546250031, + 263.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1380.1037546250031, + 266.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1380.1037546250031, + 269.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1380.1037546250031, + 272.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1380.1037546250031, + 275.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1380.1037546250031, + 278.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1380.1037546250031, + 281.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1380.1037546250031, + 284.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1380.1037546250031, + 287.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1380.1037546250031, + 290.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1380.1037546250031, + 293.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1380.1037546250031, + 296.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1380.1037546250031, + 299.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1380.1037546250031, + 302.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1380.1037546250031, + 305.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1380.1037546250031, + 308.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1380.1037546250031, + 311.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1380.1037546250031, + 314.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1380.1037546250031, + 317.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1380.1037546250031, + 320.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1380.1037546250031, + 323.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1380.1037546250031, + 326.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1380.1037546250031, + 329.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1380.1037546250031, + 332.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1380.1037546250031, + 335.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1380.1037546250031, + 338.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1380.1037546250031, + 341.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1380.1037546250031, + 344.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1380.1037546250031, + 347.8847649059149, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1380.1037546250031, + 347.8847649059149, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1380.1037546250031, + 347.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1382.7018308363565, + 349.3847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1385.29990704771, + 350.8847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1387.8979832590633, + 352.3847649059149, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1387.8979832590633, + 352.3847649059149, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1389.3979832590633, + 354.9828411172682, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1390.8979832590633, + 357.5809173286215, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1392.3979832590633, + 360.17899353997484, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1393.8979832590633, + 362.77706975132816, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1395.3979832590633, + 365.3751459626815, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1396.8979832590633, + 367.9732221740348, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1398.3979832590633, + 370.5712983853881, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1399.8979832590633, + 373.1693745967414, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 400.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-10-49_1292413412/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-10-49_1292413412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc5ae419fcf02f47039a8546b5e23d19d6c6a212 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-10-49_1292413412/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 398.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 395.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 392.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 389.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 386.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 383.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 380.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 377.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 374.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 371.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 368.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 365.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 362.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 359.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 356.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 353.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 350.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 347.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 344.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 341.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 338.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 335.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 332.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 329.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 323.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 320.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 317.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 314.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 311.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 308.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 305.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 302.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 299.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 296.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 296.3330563694726, + 189.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 293.7349801581193, + 188.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 291.136903946766, + 186.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 288.53882773541267, + 185.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 285.94075152405935, + 183.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 283.34267531270604, + 182.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 280.7445991013527, + 180.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 278.1465228899994, + 179.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 275.5484466786461, + 177.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 272.95037046729277, + 176.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 270.35229425593946, + 174.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 267.75421804458614, + 173.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 265.1561418332328, + 171.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 262.5580656218795, + 170.35607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 259.9599894105262, + 168.85607101543837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 257.3619131991729, + 167.35607101543837, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-11-43_1209734969/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-11-43_1209734969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81a24d5732864bf48fdadf2bc223313fc006b935 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-11-43_1209734969/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1585.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1588.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1591.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1594.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1597.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1600.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1603.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1606.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1609.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1612.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1615.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1618.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1621.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1624.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1627.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1630.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1633.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1636.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1639.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1642.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1645.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1648.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1651.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1654.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1657.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1660.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1663.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1666.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1669.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1672.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1675.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1678.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1681.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1684.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1687.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1687.0773539558695, + 203.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1689.6754301672229, + 202.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1692.2735063785763, + 200.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1694.8715825899296, + 199.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1697.469658801283, + 197.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1700.0677350126364, + 196.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1702.6658112239897, + 194.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1705.2638874353431, + 193.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1707.8619636466965, + 191.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1710.4600398580499, + 190.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1713.0581160694032, + 188.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1715.6561922807566, + 187.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1718.25426849211, + 185.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1720.8523447034634, + 184.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1723.4504209148167, + 182.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1726.04849712617, + 181.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1728.6465733375235, + 179.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1731.2446495488769, + 178.40317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1733.8427257602302, + 176.90317787591573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1736.4408019715836, + 175.40317787591573, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1752.0, + 172.0, + 0.929306 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-13-37_153162844/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-13-37_153162844/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7635111911f65c027d13630163947c0c64d9da8f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-13-37_153162844/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 826.4321346127417, + 339.3017363800096, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 827.9321346127417, + 341.8998125913629, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 829.4321346127417, + 344.4978888027162, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 830.9321346127417, + 347.0959650140695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 832.4321346127417, + 349.69404122542284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 833.9321346127417, + 352.29211743677615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 835.4321346127417, + 354.89019364812947, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 836.9321346127417, + 357.4882698594828, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 838.4321346127417, + 360.0863460708361, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 839.9321346127417, + 362.6844222821894, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 841.4321346127417, + 365.28249849354273, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 842.9321346127417, + 367.88057470489605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 844.4321346127417, + 370.47865091624936, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 845.9321346127417, + 373.0767271276027, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 847.4321346127417, + 375.674803338956, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 848.9321346127417, + 378.2728795503093, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 850.4321346127417, + 380.87095576166263, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 851.9321346127417, + 383.46903197301594, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 853.4321346127417, + 386.06710818436926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 854.9321346127417, + 388.6651843957226, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 856.4321346127417, + 391.2632606070759, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 856.4321346127417, + 391.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 859.0302108240951, + 392.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 861.6282870354485, + 394.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 864.2263632468018, + 395.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 866.8244394581552, + 397.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 869.4225156695086, + 398.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 872.020591880862, + 400.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 874.6186680922153, + 401.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 877.2167443035687, + 403.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 879.8148205149221, + 404.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 882.4128967262754, + 406.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 885.0109729376288, + 407.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 887.6090491489822, + 409.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 890.2071253603356, + 410.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 892.8052015716889, + 412.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 895.4032777830423, + 413.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 898.0013539943957, + 415.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 900.5994302057491, + 416.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 903.1975064171024, + 418.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 905.7955826284558, + 419.7632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 908.3936588398092, + 421.2632606070759, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 908.3936588398092, + 421.2632606070759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 909.8936588398092, + 423.8613368184292, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 911.3936588398092, + 426.4594130297825, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-15-12_769304465/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-15-12_769304465/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87b19950a820bd2d80a55c717a6ea4f046d6f7e6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-15-12_769304465/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 611.1476314761173, + 217.00378560378167, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 609.6476314761173, + 214.40570939242835, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 608.1476314761173, + 211.80763318107503, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 606.6476314761173, + 209.20955696972172, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 605.1476314761173, + 206.6114807583684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 603.6476314761173, + 204.01340454701509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 602.1476314761173, + 201.41532833566177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 600.6476314761173, + 198.81725212430845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 599.1476314761173, + 196.21917591295514, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 597.6476314761173, + 193.62109970160182, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 596.1476314761173, + 191.0230234902485, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 594.6476314761173, + 188.4249472788952, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 593.1476314761173, + 185.82687106754187, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 591.6476314761173, + 183.22879485618856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 590.1476314761173, + 180.63071864483524, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 588.6476314761173, + 178.03264243348193, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 587.1476314761173, + 175.4345662221286, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 585.6476314761173, + 172.8364900107753, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 584.1476314761173, + 170.23841379942198, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 584.1476314761173, + 170.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 584.1476314761173, + 167.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 584.1476314761173, + 164.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 584.1476314761173, + 161.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 584.1476314761173, + 158.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 584.1476314761173, + 155.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 584.1476314761173, + 152.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 584.1476314761173, + 149.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 584.1476314761173, + 146.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 584.1476314761173, + 143.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 584.1476314761173, + 140.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 584.1476314761173, + 137.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 584.1476314761173, + 134.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 584.1476314761173, + 131.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 584.1476314761173, + 128.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 584.1476314761173, + 125.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 584.1476314761173, + 122.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 584.1476314761173, + 119.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 584.1476314761173, + 116.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 584.1476314761173, + 113.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 584.1476314761173, + 110.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 584.1476314761173, + 107.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 584.1476314761173, + 104.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 584.1476314761173, + 101.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 584.1476314761173, + 98.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 584.1476314761173, + 95.23841379942198, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 584.1476314761173, + 95.23841379942198, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 584.1476314761173, + 95.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 581.549555264764, + 93.73841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 578.9514790534106, + 92.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 576.3534028420572, + 90.73841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 573.7553266307038, + 89.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 571.1572504193505, + 87.73841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 568.5591742079971, + 86.23841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 565.9610979966437, + 84.73841379942198, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 563.3630217852904, + 83.23841379942198, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 556.0, + 64.0, + -1.13261 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-18-10_411826969/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-18-10_411826969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53768f5e19f4c71be5a7efb0ce145fa33a80c94f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-18-10_411826969/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 639.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 642.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 645.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 648.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 651.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 654.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 657.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 660.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 663.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 663.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 663.102332350305, + 278.4954493712856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 664.602332350305, + 281.0935255826389, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 666.102332350305, + 283.6916017939922, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 667.602332350305, + 286.28967800534554, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 669.102332350305, + 288.88775421669885, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 670.602332350305, + 291.48583042805217, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 672.102332350305, + 294.0839066394055, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 673.602332350305, + 296.6819828507588, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 675.102332350305, + 299.2800590621121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 676.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 676.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 676.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 679.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 682.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 685.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 688.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 691.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 694.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 697.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 700.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 703.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 706.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 709.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 712.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 715.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 718.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 721.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 724.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 724.602332350305, + 301.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 727.2004085616584, + 300.37813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 729.7984847730118, + 298.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 732.3965609843651, + 297.37813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 734.9946371957185, + 295.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 737.5927134070719, + 294.37813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 740.1907896184252, + 292.87813527346543, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 742.7888658297786, + 291.37813527346543, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + 296.0, + 1.28039 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-28-17_18400960/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-28-17_18400960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bf7a51043791740b25e017cec569d76a016a42d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-28-17_18400960/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 790.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 793.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 796.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 799.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 802.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 805.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 808.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 811.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 814.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 817.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 817.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 817.5917984652524, + 542.5386886457295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 819.0917984652524, + 539.9406124343761, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 820.5917984652524, + 537.3425362230228, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 822.0917984652524, + 534.7444600116694, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 823.5917984652524, + 532.146383800316, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 825.0917984652524, + 529.5483075889626, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 825.0917984652524, + 529.5483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 827.6898746766058, + 528.0483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 830.2879508879591, + 526.5483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 832.8860270993125, + 525.0483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 835.4841033106659, + 523.5483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 838.0821795220193, + 522.0483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 840.6802557333726, + 520.5483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 843.278331944726, + 519.0483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 845.8764081560794, + 517.5483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 848.4744843674328, + 516.0483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 851.0725605787861, + 514.5483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 853.6706367901395, + 513.0483075889626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 856.2687130014929, + 511.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 858.8667892128462, + 510.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 861.4648654241996, + 508.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 864.062941635553, + 507.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 866.6610178469064, + 505.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 869.2590940582597, + 504.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 871.8571702696131, + 502.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 874.4552464809665, + 501.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 877.0533226923199, + 499.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 879.6513989036732, + 498.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 882.2494751150266, + 496.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 884.84755132638, + 495.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 887.4456275377333, + 493.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 890.0437037490867, + 492.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 892.6417799604401, + 490.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 895.2398561717935, + 489.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 897.8379323831468, + 487.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 900.4360085945002, + 486.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 903.0340848058536, + 484.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 905.632161017207, + 483.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 908.2302372285603, + 481.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 910.8283134399137, + 480.04830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 913.4263896512671, + 478.54830758896264, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 913.4263896512671, + 478.54830758896264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 916.4263896512671, + 478.54830758896264, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-31-49_399493245/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-31-49_399493245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9605469226b95a36347286ca4c1ac5c0868030e --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-31-49_399493245/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1286.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1283.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1280.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1277.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1274.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1271.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1268.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1265.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1262.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1259.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1256.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1253.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1250.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1247.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1244.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1241.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1238.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1235.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1232.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1229.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1226.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1223.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1220.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1220.6579290639852, + 113.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1218.0598528526318, + 114.80144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1215.4617766412784, + 116.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1212.863700429925, + 117.80144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1210.2656242185717, + 119.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1207.6675480072183, + 120.80144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1205.069471795865, + 122.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1202.4713955845116, + 123.80144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1199.8733193731582, + 125.30144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1197.2752431618048, + 126.80144253019414, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1194.6771669504515, + 128.30144253019412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915077 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1192.079090739098, + 129.80144253019412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1189.4810145277447, + 131.30144253019412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1186.8829383163913, + 132.80144253019412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1184.284862105038, + 134.30144253019412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1181.6867858936846, + 135.80144253019412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1179.0887096823312, + 137.30144253019412, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1124.0, + 152.0, + 214.658 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-36-48_1987235624/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-36-48_1987235624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ad7689391c87cc5878938568de9488291195109 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-36-48_1987235624/pose.jsonl @@ -0,0 +1,808 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1849.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1852.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1855.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1858.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1861.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1864.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1864.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1864.9383509993497, + 327.9470539635332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1866.4383509993497, + 330.54513017488654, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1867.9383509993497, + 333.14320638623985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1869.4383509993497, + 335.74128259759317, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1870.9383509993497, + 338.3393588089465, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1872.4383509993497, + 340.9374350202998, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1873.9383509993497, + 343.5355112316531, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1875.4383509993497, + 346.13358744300643, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1876.9383509993497, + 348.73166365435975, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1878.4383509993497, + 351.32973986571307, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1879.9383509993497, + 353.9278160770664, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1881.4383509993497, + 356.5258922884197, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1882.9383509993497, + 359.123968499773, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1884.4383509993497, + 361.72204471112633, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1884.4383509993497, + 361.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1887.036427210703, + 363.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1889.6345034220565, + 364.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1892.2325796334098, + 366.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1894.8306558447632, + 367.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1897.4287320561166, + 369.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1900.02680826747, + 370.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1902.6248844788233, + 372.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1905.2229606901767, + 373.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1907.82103690153, + 375.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1910.4191131128835, + 376.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1913.0171893242368, + 378.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1915.6152655355902, + 379.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1918.2133417469436, + 381.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1920.811417958297, + 382.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1923.4094941696503, + 384.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1926.0075703810037, + 385.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1928.605646592357, + 387.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1931.2037228037104, + 388.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1933.8017990150638, + 390.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1936.3998752264172, + 391.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1938.9979514377706, + 393.22204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1941.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1941.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1944.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1947.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1950.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1953.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1956.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1959.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1962.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1965.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1968.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1971.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1974.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1977.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1980.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1983.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1986.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1989.596027649124, + 394.72204471112633, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-58-10_455843485/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-58-10_455843485/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fc338853d0566ff18702222949300f9c193d36c --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_4-58-10_455843485/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 198.1930088758286, + 138.7825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.5949326644753, + 140.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 192.99685645312198, + 141.7825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 190.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 190.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 187.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 184.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 181.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 178.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 175.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 175.39878024176866, + 143.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 172.80070403041535, + 144.7825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 170.20262781906203, + 146.2825789366667, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 170.20262781906203, + 146.2825789366667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 168.70262781906203, + 148.88065514802003, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 167.20262781906203, + 151.47873135937334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 165.70262781906203, + 154.07680757072666, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 164.20262781906203, + 156.67488378207997, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 162.70262781906203, + 159.2729599934333, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 161.20262781906203, + 161.8710362047866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 159.70262781906203, + 164.46911241613992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 158.20262781906203, + 167.06718862749324, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 156.70262781906203, + 169.66526483884655, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 155.20262781906203, + 172.26334105019987, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 153.70262781906203, + 174.86141726155319, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 152.20262781906203, + 177.4594934729065, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 150.70262781906203, + 180.05756968425982, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 149.20262781906203, + 182.65564589561313, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 147.70262781906203, + 185.25372210696645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 146.20262781906203, + 187.85179831831977, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 144.70262781906203, + 190.44987452967308, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 143.20262781906203, + 193.0479507410264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 141.70262781906203, + 195.6460269523797, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 140.20262781906203, + 198.24410316373303, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 138.70262781906203, + 200.84217937508635, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 137.20262781906203, + 203.44025558643966, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 135.70262781906203, + 206.03833179779298, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 134.20262781906203, + 208.6364080091463, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + 260.0, + 17.1304 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-16-30_1715207829/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-16-30_1715207829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9267085fc5eaeeec517047277cc7aae77bc58df1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-16-30_1715207829/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 885.75147594371, + 476.8089539047903, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 887.25147594371, + 479.40703011614363, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 888.75147594371, + 482.00510632749695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 890.25147594371, + 484.60318253885026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 891.75147594371, + 487.2012587502036, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 893.25147594371, + 489.7993349615569, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 894.75147594371, + 492.3974111729102, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 894.75147594371, + 492.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 894.75147594371, + 495.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 894.75147594371, + 498.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 894.75147594371, + 501.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 894.75147594371, + 504.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 894.75147594371, + 507.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 894.75147594371, + 510.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 894.75147594371, + 513.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 894.75147594371, + 516.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 894.75147594371, + 519.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 894.75147594371, + 522.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 894.75147594371, + 525.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 894.75147594371, + 528.3974111729102, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 894.75147594371, + 528.3974111729102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 896.25147594371, + 530.9954873842635, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 897.75147594371, + 533.5935635956168, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 899.25147594371, + 536.1916398069702, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 900.75147594371, + 538.7897160183236, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 902.25147594371, + 541.387792229677, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 903.75147594371, + 543.9858684410303, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 905.25147594371, + 546.5839446523837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 906.75147594371, + 549.1820208637371, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 908.25147594371, + 551.7800970750905, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 909.75147594371, + 554.3781732864438, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 911.25147594371, + 556.9762494977972, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 912.75147594371, + 559.5743257091506, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 914.25147594371, + 562.172401920504, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 915.75147594371, + 564.7704781318573, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 917.25147594371, + 567.3685543432107, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 918.75147594371, + 569.9666305545641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 920.25147594371, + 572.5647067659174, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 921.75147594371, + 575.1627829772708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 923.25147594371, + 577.7608591886242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 924.75147594371, + 580.3589353999776, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 926.25147594371, + 582.9570116113309, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 927.75147594371, + 585.5550878226843, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 929.25147594371, + 588.1531640340377, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 930.75147594371, + 590.751240245391, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 932.25147594371, + 593.3493164567444, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 933.75147594371, + 595.9473926680978, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 935.25147594371, + 598.5454688794512, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 936.75147594371, + 601.1435450908045, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 938.25147594371, + 603.7416213021579, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 939.75147594371, + 606.3396975135113, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 636.0, + 0.96873 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-19-43_1254749154/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-19-43_1254749154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f99654f8dec6132ed175267902a86c4effa7db90 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-19-43_1254749154/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 738.4688618546276, + 317.876121058158, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 739.9688618546276, + 320.4741972695113, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 741.4688618546276, + 323.0722734808646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 742.9688618546276, + 325.67034969221794, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 742.9688618546276, + 325.67034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 742.9688618546276, + 328.67034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 742.9688618546276, + 331.67034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 742.9688618546276, + 334.67034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 742.9688618546276, + 337.67034969221794, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 742.9688618546276, + 337.67034969221794, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 742.9688618546276, + 337.67034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 745.5669380659808, + 339.17034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 748.1650142773342, + 340.67034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 750.7630904886876, + 342.17034969221794, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 750.7630904886876, + 342.17034969221794, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 752.2630904886876, + 344.76842590357126, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 753.7630904886876, + 347.3665021149246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 755.2630904886876, + 349.9645783262779, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 756.7630904886876, + 352.5626545376312, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 758.2630904886876, + 355.1607307489845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 759.7630904886876, + 357.75880696033784, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 761.2630904886876, + 360.35688317169115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 762.7630904886876, + 362.95495938304447, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 764.2630904886876, + 365.5530355943978, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 765.7630904886876, + 368.1511118057511, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 767.2630904886876, + 370.7491880171044, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 768.7630904886876, + 373.34726422845773, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 770.2630904886876, + 375.94534043981105, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 771.7630904886876, + 378.54341665116436, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 773.2630904886876, + 381.1414928625177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 774.7630904886876, + 383.739569073871, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 776.2630904886876, + 386.3376452852243, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 777.7630904886876, + 388.9357214965776, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 779.2630904886876, + 391.53379770793094, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 780.7630904886876, + 394.13187391928426, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 782.2630904886876, + 396.7299501306376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 783.7630904886876, + 399.3280263419909, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 785.2630904886876, + 401.9261025533442, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 786.7630904886876, + 404.5241787646975, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 788.2630904886876, + 407.12225497605084, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 789.7630904886876, + 409.72033118740416, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 791.2630904886876, + 412.3184073987575, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 792.7630904886876, + 414.9164836101108, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 794.2630904886876, + 417.5145598214641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 795.7630904886876, + 420.1126360328174, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 797.2630904886876, + 422.71071224417074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 798.7630904886876, + 425.30878845552405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 800.2630904886876, + 427.90686466687737, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 801.7630904886876, + 430.5049408782307, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 803.2630904886876, + 433.103017089584, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 804.7630904886876, + 435.7010933009373, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 820.0, + 468.0, + 126.263 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-2-39_482417719/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-2-39_482417719/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2d9aa0e7e951e8a38307600a175831b1ffbbb14 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-2-39_482417719/pose.jsonl @@ -0,0 +1,756 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 775.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 778.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 781.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 784.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 787.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 790.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 793.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 796.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 799.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 802.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 805.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 808.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 811.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 814.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 817.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 820.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 823.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 826.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 829.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 832.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 835.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 838.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 841.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 844.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 847.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 850.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 853.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 856.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 859.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 862.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 865.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 868.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 871.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 874.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 877.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 880.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 883.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 886.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 889.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 889.3829589143445, + 959.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 891.9810351256979, + 960.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 894.5791113370512, + 962.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 897.1771875484046, + 963.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 899.775263759758, + 965.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 902.3733399711114, + 966.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 904.9714161824647, + 968.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 907.5694923938181, + 969.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 910.1675686051715, + 971.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 912.7656448165249, + 972.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 915.3637210278782, + 974.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 917.9617972392316, + 975.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 920.559873450585, + 977.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 923.1579496619383, + 978.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 925.7560258732917, + 980.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 928.3541020846451, + 981.5479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 930.9521782959985, + 983.0479466923227, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 933.5502545073518, + 984.5479466923227, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 952.0, + 988.0, + 1.64774 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-23-45_917609663/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-23-45_917609663/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0679f7cff8de49b85bf7c80a13c4d3f48d85465 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-23-45_917609663/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1463.5335159752653, + 247.64818307662705, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1462.0335159752653, + 250.24625928798037, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1460.5335159752653, + 252.84433549933368, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1459.0335159752653, + 255.442411710687, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1457.5335159752653, + 258.0404879220403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1456.0335159752653, + 260.63856413339363, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1454.5335159752653, + 263.23664034474695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1453.0335159752653, + 265.83471655610026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1451.5335159752653, + 268.4327927674536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1450.0335159752653, + 271.0308689788069, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1448.5335159752653, + 273.6289451901602, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1447.0335159752653, + 276.2270214015135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1445.5335159752653, + 278.82509761286684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1444.0335159752653, + 281.42317382422016, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1442.5335159752653, + 284.0212500355735, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1442.5335159752653, + 284.0212500355735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1439.935439763912, + 285.5212500355735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1437.3373635525586, + 287.0212500355735, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1437.3373635525586, + 287.0212500355735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1435.8373635525586, + 289.6193262469268, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1434.3373635525586, + 292.2174024582801, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1432.8373635525586, + 294.8154786696334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1431.3373635525586, + 297.41355488098674, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1429.8373635525586, + 300.01163109234005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1428.3373635525586, + 302.60970730369337, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1426.8373635525586, + 305.2077835150467, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1425.3373635525586, + 307.8058597264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1423.8373635525586, + 310.4039359377533, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1422.3373635525586, + 313.00201214910663, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1420.8373635525586, + 315.60008836045995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1419.3373635525586, + 318.19816457181327, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1417.8373635525586, + 320.7962407831666, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1416.3373635525586, + 323.3943169945199, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1414.8373635525586, + 325.9923932058732, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1413.3373635525586, + 328.59046941722653, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1413.3373635525586, + 328.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1413.3373635525586, + 331.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1413.3373635525586, + 334.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1413.3373635525586, + 337.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1413.3373635525586, + 340.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1413.3373635525586, + 343.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1413.3373635525586, + 346.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1413.3373635525586, + 349.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1413.3373635525586, + 352.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1413.3373635525586, + 355.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1413.3373635525586, + 358.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1413.3373635525586, + 361.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1413.3373635525586, + 364.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1413.3373635525586, + 367.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1413.3373635525586, + 370.59046941722653, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1413.3373635525586, + 373.59046941722653, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1404.0, + 400.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-31-56_240854387/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-31-56_240854387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..759c6532f23b95fcdaef3fbe3e6133ae10651d0a --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-31-56_240854387/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1890.230864005189, + 260.704462270972, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1891.730864005189, + 263.3025384823253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1893.230864005189, + 265.9006146936786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1894.730864005189, + 268.49869090503194, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1896.230864005189, + 271.09676711638525, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1897.730864005189, + 273.69484332773857, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1899.230864005189, + 276.2929195390919, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1900.730864005189, + 278.8909957504452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1902.230864005189, + 281.4890719617985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1903.730864005189, + 284.08714817315183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1905.230864005189, + 286.68522438450515, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1906.730864005189, + 289.28330059585846, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1908.230864005189, + 291.8813768072118, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1908.230864005189, + 291.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1910.8289402165424, + 293.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1913.4270164278958, + 294.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1916.0250926392491, + 296.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1918.6231688506025, + 297.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1921.2212450619559, + 299.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1923.8193212733092, + 300.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1926.4173974846626, + 302.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1929.015473696016, + 303.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1931.6135499073694, + 305.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1934.2116261187227, + 306.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1936.809702330076, + 308.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1939.4077785414295, + 309.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1942.0058547527829, + 311.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1944.6039309641362, + 312.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1947.2020071754896, + 314.3813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1949.800083386843, + 315.8813768072118, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1949.800083386843, + 315.8813768072118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1951.300083386843, + 318.4794530185651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1952.800083386843, + 321.0775292299184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1954.300083386843, + 323.6756054412717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1955.800083386843, + 326.27368165262504, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1957.300083386843, + 328.87175786397836, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1958.800083386843, + 331.4698340753317, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1960.300083386843, + 334.067910286685, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1961.800083386843, + 336.6659864980383, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1963.300083386843, + 339.2640627093916, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1964.800083386843, + 341.86213892074494, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1966.300083386843, + 344.46021513209826, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1967.800083386843, + 347.0582913434516, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1969.300083386843, + 349.6563675548049, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1970.800083386843, + 352.2544437661582, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1972.300083386843, + 354.8525199775115, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1973.800083386843, + 357.45059618886484, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1975.300083386843, + 360.04867240021815, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1976.800083386843, + 362.64674861157147, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1978.300083386843, + 365.2448248229248, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1979.800083386843, + 367.8429010342781, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1981.300083386843, + 370.4409772456314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1982.800083386843, + 373.03905345698473, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1984.300083386843, + 375.63712966833805, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1985.800083386843, + 378.23520587969136, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1987.300083386843, + 380.8332820910447, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-35-54_657103124/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-35-54_657103124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f4d0d31b6f4464af56b52b42e3faeefff0d16d2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-35-54_657103124/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1816.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1819.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1822.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1825.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1828.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1831.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1834.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1837.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1840.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1843.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1846.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1849.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1852.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1855.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1858.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1861.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1864.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1867.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1870.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1873.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1876.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1879.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1882.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1885.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1888.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1891.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1894.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1897.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1900.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1903.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1906.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1909.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1909.4381837147785, + 334.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1912.0362599261318, + 332.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1914.6343361374852, + 331.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1917.2324123488386, + 329.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1919.830488560192, + 328.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1922.4285647715453, + 326.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1925.0266409828987, + 325.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1927.624717194252, + 323.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1930.2227934056054, + 322.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1932.8208696169588, + 320.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1935.4189458283122, + 319.4719757271381, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1935.4189458283122, + 319.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1938.4189458283122, + 319.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1941.4189458283122, + 319.4719757271381, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1941.4189458283122, + 319.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1944.0170220396656, + 320.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1946.615098251019, + 322.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1949.2131744623723, + 323.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1951.8112506737257, + 325.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1954.409326885079, + 326.9719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1957.0074030964324, + 328.4719757271381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1959.6054793077858, + 329.9719757271381, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 328.0, + 3.01289 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-4-3_1812718902/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-4-3_1812718902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45a5156a109c1d1c4ce586f18154e228d8e55997 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-4-3_1812718902/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1858.6916965181765, + 116.76455500059603, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1857.1916965181765, + 114.16647878924272, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1855.6916965181765, + 111.5684025778894, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1854.1916965181765, + 108.97032636653609, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1852.6916965181765, + 106.37225015518277, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1851.1916965181765, + 103.77417394382945, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1849.6916965181765, + 101.17609773247614, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1848.1916965181765, + 98.57802152112282, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1846.6916965181765, + 95.9799453097695, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1845.1916965181765, + 93.38186909841619, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1843.6916965181765, + 90.78379288706287, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1842.1916965181765, + 88.18571667570956, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1840.6916965181765, + 85.58764046435624, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1839.1916965181765, + 82.98956425300292, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1837.6916965181765, + 80.39148804164961, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1836.1916965181765, + 77.7934118302963, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1834.6916965181765, + 75.19533561894298, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1833.1916965181765, + 72.59725940758966, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1831.6916965181765, + 69.99918319623634, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1830.1916965181765, + 67.40110698488303, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1828.6916965181765, + 64.80303077352971, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1827.1916965181765, + 62.2049545621764, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1825.6916965181765, + 59.60687835082308, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1824.1916965181765, + 57.008802139469765, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1822.6916965181765, + 54.41072592811645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1821.1916965181765, + 51.81264971676313, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1819.6916965181765, + 49.21457350540982, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1818.1916965181765, + 46.6164972940565, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1816.6916965181765, + 44.018421082703185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1815.1916965181765, + 41.42034487134987, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1813.6916965181765, + 38.82226865999655, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1812.1916965181765, + 36.22419244864324, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1810.6916965181765, + 33.62611623728992, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1809.1916965181765, + 31.028040025936605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1807.6916965181765, + 28.42996381458329, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1806.1916965181765, + 25.831887603229973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1804.6916965181765, + 23.233811391876657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1803.1916965181765, + 20.63573518052334, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1801.6916965181765, + 18.037658969170025, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1800.1916965181765, + 15.439582757816709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1798.6916965181765, + 12.841506546463393, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1797.1916965181765, + 10.243430335110077, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1797.1916965181765, + 10.243430335110077, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1797.1916965181765, + 7.243430335110077, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1797.1916965181765, + 4.243430335110077, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1797.1916965181765, + 1.2434303351100766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1797.1916965181765, + -1.7565696648899234, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1797.1916965181765, + -4.756569664889923, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1797.1916965181765, + -7.756569664889923, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1797.1916965181765, + -10.756569664889923, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1797.1916965181765, + -13.756569664889923, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1797.1916965181765, + -16.756569664889923, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1784.0, + -44.0, + 0.756577 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-52-40_529302443/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-52-40_529302443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35951bc911ba4ca9319312c8405b36ba057df053 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-52-40_529302443/pose.jsonl @@ -0,0 +1,769 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 854.8222782775501, + 347.2211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 852.2242020661968, + 345.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 849.6261258548434, + 344.2211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 847.02804964349, + 342.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 844.4299734321366, + 341.2211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 841.8318972207833, + 339.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 839.2338210094299, + 338.2211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 836.6357447980765, + 336.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 834.0376685867232, + 335.2211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 831.4395923753698, + 333.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 828.8415161640164, + 332.2211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 826.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 826.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 823.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 820.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 817.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 814.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 811.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 808.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 805.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 802.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 799.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 796.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 793.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 790.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 787.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 784.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 781.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 778.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 775.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 772.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 769.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 766.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 763.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 760.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 757.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 754.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 751.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 748.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 745.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 745.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 745.243439952663, + 330.7211082560518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 743.743439952663, + 328.1230320446985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 742.243439952663, + 325.5249558333452, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 740.743439952663, + 322.9268796219919, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 739.243439952663, + 320.32880341063856, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 737.743439952663, + 317.73072719928524, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 736.243439952663, + 315.1326509879319, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 734.743439952663, + 312.5345747765786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 733.243439952663, + 309.9364985652253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 731.743439952663, + 307.338422353872, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 730.243439952663, + 304.74034614251866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 728.743439952663, + 302.14226993116534, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 727.243439952663, + 299.54419371981203, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 725.743439952663, + 296.9461175084587, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 725.743439952663, + 296.9461175084587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 723.1453637413097, + 295.4461175084587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 720.5472875299563, + 293.9461175084587, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 284.0, + -0.375038 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-58-26_1211721386/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-58-26_1211721386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05e7a842b82f8d117d003f783cddecfbdccdeeb1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-58-26_1211721386/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 834.4439269366754, + 377.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 831.8458507253222, + 376.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 829.2477745139688, + 374.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 826.6496983026154, + 373.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 824.0516220912621, + 371.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 821.4535458799087, + 370.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 818.8554696685553, + 368.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 816.2573934572019, + 367.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 813.6593172458486, + 365.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 811.0612410344952, + 364.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 808.4631648231418, + 362.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 805.8650886117885, + 361.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 803.2670124004351, + 359.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 800.6689361890817, + 358.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 798.0708599777283, + 356.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 795.472783766375, + 355.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 792.8747075550216, + 353.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 790.2766313436682, + 352.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 787.6785551323148, + 350.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 785.0804789209615, + 349.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 782.4824027096081, + 347.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 779.8843264982547, + 346.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 777.2862502869013, + 344.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 774.688174075548, + 343.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 772.0900978641946, + 341.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 769.4920216528412, + 340.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 766.8939454414879, + 338.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 764.2958692301345, + 337.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 761.6977930187811, + 335.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 759.0997168074277, + 334.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 756.5016405960744, + 332.891564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 753.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 753.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 750.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 747.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 744.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 744.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 744.903564384721, + 331.391564222585, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 743.403564384721, + 328.79348801123166, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 741.903564384721, + 326.19541179987834, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 740.403564384721, + 323.597335588525, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 738.903564384721, + 320.9992593771717, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 737.403564384721, + 318.4011831658184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 735.903564384721, + 315.8031069544651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 734.403564384721, + 313.20503074311176, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 732.903564384721, + 310.60695453175845, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 731.403564384721, + 308.00887832040513, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 729.903564384721, + 305.4108021090518, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 728.403564384721, + 302.8127258976985, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 728.403564384721, + 302.8127258976985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 725.8054881733676, + 301.3127258976985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 723.2074119620142, + 299.8127258976985, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 720.6093357506609, + 298.3127258976985, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 696.0, + 284.0, + -0.375038 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-8-56_461152493/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-8-56_461152493/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..388dd8745b561b9eb9cfb29c915d84d4664fe818 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_5-8-56_461152493/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1375.5709926764812, + 329.05550448817934, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1377.0709926764812, + 331.65358069953265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1378.5709926764812, + 334.25165691088597, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1380.0709926764812, + 336.8497331222393, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1381.5709926764812, + 339.4478093335926, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1381.5709926764812, + 339.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1381.5709926764812, + 342.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1381.5709926764812, + 345.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1381.5709926764812, + 348.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1381.5709926764812, + 351.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1381.5709926764812, + 354.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1381.5709926764812, + 357.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1381.5709926764812, + 360.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1381.5709926764812, + 363.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1381.5709926764812, + 366.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1381.5709926764812, + 369.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1381.5709926764812, + 372.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1381.5709926764812, + 375.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1381.5709926764812, + 378.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1381.5709926764812, + 381.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1381.5709926764812, + 384.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1381.5709926764812, + 387.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1381.5709926764812, + 390.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1381.5709926764812, + 393.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1381.5709926764812, + 396.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1381.5709926764812, + 399.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1381.5709926764812, + 402.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1381.5709926764812, + 405.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1381.5709926764812, + 408.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1381.5709926764812, + 411.4478093335926, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1381.5709926764812, + 411.4478093335926, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1383.0709926764812, + 414.0458855449459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1384.5709926764812, + 416.64396175629923, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1386.0709926764812, + 419.24203796765255, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1387.5709926764812, + 421.84011417900587, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1389.0709926764812, + 424.4381903903592, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1390.5709926764812, + 427.0362666017125, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1392.0709926764812, + 429.6343428130658, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1393.5709926764812, + 432.23241902441913, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1395.0709926764812, + 434.83049523577245, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1396.5709926764812, + 437.42857144712576, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1398.0709926764812, + 440.0266476584791, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1399.5709926764812, + 442.6247238698324, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1401.0709926764812, + 445.2228000811857, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1402.5709926764812, + 447.820876292539, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1404.0709926764812, + 450.41895250389234, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1405.5709926764812, + 453.01702871524566, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1407.0709926764812, + 455.615104926599, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1407.0709926764812, + 455.615104926599, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1409.6690688878346, + 457.115104926599, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1412.267145099188, + 458.615104926599, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1420.0, + 484.0, + -10.4725 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-29-12_844169939/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-29-12_844169939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8830aaecdb8c84add1cd4d91504395d77c1fdb7b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-29-12_844169939/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 801.7956388636796, + -321.58538058090005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 800.2956388636796, + -318.98730436954673, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 798.7956388636796, + -316.3892281581934, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 797.2956388636796, + -313.7911519468401, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 795.7956388636796, + -311.1930757354868, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 794.2956388636796, + -308.59499952413347, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 792.7956388636796, + -305.99692331278015, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 791.2956388636796, + -303.39884710142684, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 789.7956388636796, + -300.8007708900735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 788.2956388636796, + -298.2026946787202, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 786.7956388636796, + -295.6046184673669, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 786.7956388636796, + -295.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 786.7956388636796, + -292.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 786.7956388636796, + -289.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 786.7956388636796, + -286.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 786.7956388636796, + -283.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 786.7956388636796, + -280.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 786.7956388636796, + -277.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 786.7956388636796, + -274.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 786.7956388636796, + -271.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 786.7956388636796, + -268.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 786.7956388636796, + -265.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 786.7956388636796, + -262.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 786.7956388636796, + -259.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 786.7956388636796, + -256.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 786.7956388636796, + -253.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 786.7956388636796, + -250.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 786.7956388636796, + -247.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 786.7956388636796, + -244.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 786.7956388636796, + -241.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 786.7956388636796, + -238.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 786.7956388636796, + -235.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 786.7956388636796, + -232.6046184673669, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 786.7956388636796, + -232.6046184673669, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 788.2956388636796, + -230.00654225601357, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 789.7956388636796, + -227.40846604466026, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 791.2956388636796, + -224.81038983330694, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 792.7956388636796, + -222.21231362195363, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 794.2956388636796, + -219.6142374106003, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 795.7956388636796, + -217.016161199247, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 797.2956388636796, + -214.41808498789368, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 792.0, + -168.0, + -3.30387 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-31-12_986478257/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-31-12_986478257/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f135ceff4ba33ea11d90b546439aeee9481c7e3b --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-31-12_986478257/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 575.5454832030765, + -46.67870372654184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 574.0454832030765, + -44.080627515188525, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 572.5454832030765, + -41.48255130383521, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 571.0454832030765, + -38.88447509248189, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 569.5454832030765, + -36.28639888112858, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 568.0454832030765, + -33.68832266977526, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 568.0454832030765, + -33.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 568.0454832030765, + -30.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 568.0454832030765, + -27.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 568.0454832030765, + -24.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 568.0454832030765, + -21.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 568.0454832030765, + -18.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 568.0454832030765, + -15.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 568.0454832030765, + -12.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 568.0454832030765, + -9.68832266977526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 568.0454832030765, + -6.6883226697752605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 568.0454832030765, + -3.6883226697752605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 568.0454832030765, + -0.6883226697752605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 568.0454832030765, + 2.3116773302247395, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 568.0454832030765, + 5.3116773302247395, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 568.0454832030765, + 8.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 568.0454832030765, + 11.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 568.0454832030765, + 14.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 568.0454832030765, + 17.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 568.0454832030765, + 20.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 568.0454832030765, + 23.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 568.0454832030765, + 26.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 568.0454832030765, + 29.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 568.0454832030765, + 32.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 568.0454832030765, + 35.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 568.0454832030765, + 38.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 568.0454832030765, + 41.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 568.0454832030765, + 44.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 568.0454832030765, + 47.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 568.0454832030765, + 50.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 568.0454832030765, + 53.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 568.0454832030765, + 56.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 568.0454832030765, + 59.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 568.0454832030765, + 62.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 568.0454832030765, + 65.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 568.0454832030765, + 68.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 568.0454832030765, + 71.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 568.0454832030765, + 74.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 568.0454832030765, + 77.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 568.0454832030765, + 80.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 568.0454832030765, + 83.31167733022474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 568.0454832030765, + 86.31167733022474, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 568.0, + 120.0, + 30.9312 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-36-35_1608340634/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-36-35_1608340634/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..069ea0c4e46e969631545a553f16f0148e04ec98 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-36-35_1608340634/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -111.58824954795953, + -257.9112747392219, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -110.08824954795953, + -260.5093509505752, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -108.58824954795953, + -263.1074271619285, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -107.08824954795953, + -265.70550337328183, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.08824954795953, + -265.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -107.08824954795953, + -268.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -107.08824954795953, + -271.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.08824954795953, + -274.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -107.08824954795953, + -277.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -107.08824954795953, + -280.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.08824954795953, + -283.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -107.08824954795953, + -286.70550337328183, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -107.08824954795953, + -286.70550337328183, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -107.08824954795953, + -286.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -104.49017333660622, + -288.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -101.8920971252529, + -289.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -99.29402091389959, + -291.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -96.69594470254627, + -292.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -94.09786849119295, + -294.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -91.49979227983964, + -295.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -88.90171606848632, + -297.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -86.303639857133, + -298.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -83.70556364577969, + -300.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -81.10748743442637, + -301.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -78.50941122307306, + -303.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -75.91133501171974, + -304.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -73.31325880036643, + -306.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -70.71518258901311, + -307.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -68.1171063776598, + -309.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -65.51903016630648, + -310.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -62.92095395495316, + -312.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -60.32287774359985, + -313.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -57.72480153224653, + -315.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -55.126725320893215, + -316.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -52.5286491095399, + -318.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -49.93057289818658, + -319.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -47.33249668683327, + -321.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -44.73442047547995, + -322.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -42.136344264126635, + -324.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -39.53826805277332, + -325.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -36.94019184142, + -327.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -34.34211563006669, + -328.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -31.74403941871337, + -330.20550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -29.145963207360055, + -331.70550337328183, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -26.54788699600674, + -333.20550337328183, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-42-52_922587542/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-42-52_922587542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffbeee72fa9bbbf1818655031eaeb4b34c33d1ac --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-42-52_922587542/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1938.3508194691583, + 683.9515249581216, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1936.8508194691583, + 681.3534487467682, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1935.3508194691583, + 678.7553725354148, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1933.8508194691583, + 676.1572963240615, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1933.8508194691583, + 676.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1931.252743257805, + 674.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1928.6546670464516, + 673.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1926.0565908350982, + 671.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1923.4585146237448, + 670.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1920.8604384123914, + 668.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1918.262362201038, + 667.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1915.6642859896847, + 665.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1913.0662097783313, + 664.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1910.468133566978, + 662.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1907.8700573556246, + 661.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1905.2719811442712, + 659.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1902.6739049329178, + 658.1572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1900.0758287215644, + 656.6572963240615, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1900.0758287215644, + 656.6572963240615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1898.5758287215644, + 654.0592201127081, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1897.0758287215644, + 651.4611439013547, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1895.5758287215644, + 648.8630676900013, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1894.0758287215644, + 646.264991478648, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1892.5758287215644, + 643.6669152672946, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1891.0758287215644, + 641.0688390559412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1889.5758287215644, + 638.4707628445879, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1888.0758287215644, + 635.8726866332345, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1886.5758287215644, + 633.2746104218811, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1885.0758287215644, + 630.6765342105277, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1883.5758287215644, + 628.0784579991744, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1882.0758287215644, + 625.480381787821, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1880.5758287215644, + 622.8823055764676, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1879.0758287215644, + 620.2842293651142, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1877.5758287215644, + 617.6861531537609, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1876.0758287215644, + 615.0880769424075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1874.5758287215644, + 612.4900007310541, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1873.0758287215644, + 609.8919245197008, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1871.5758287215644, + 607.2938483083474, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1870.0758287215644, + 604.695772096994, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1870.0758287215644, + 604.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1870.0758287215644, + 601.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1870.0758287215644, + 598.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1870.0758287215644, + 595.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1870.0758287215644, + 592.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1870.0758287215644, + 589.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1870.0758287215644, + 586.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1870.0758287215644, + 583.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1870.0758287215644, + 580.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1870.0758287215644, + 577.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1870.0758287215644, + 574.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1870.0758287215644, + 571.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1870.0758287215644, + 568.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1870.0758287215644, + 565.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1870.0758287215644, + 562.695772096994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1870.0758287215644, + 559.695772096994, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-45-52_1540846267/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-45-52_1540846267/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e17ebea45b74a40eae5b69bbee2f4bf2e2229c6e --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-45-52_1540846267/pose.jsonl @@ -0,0 +1,626 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -158.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -155.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -152.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -149.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -146.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -143.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -140.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -137.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -134.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -131.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -128.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -119.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -116.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -113.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -110.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -107.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -104.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -101.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -98.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -98.641840169783, + -422.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -96.04376395842968, + -421.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -93.44568774707636, + -419.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -90.84761153572305, + -418.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -88.24953532436973, + -416.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -85.65145911301641, + -415.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -83.0533829016631, + -413.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -80.45530669030978, + -412.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -77.85723047895647, + -410.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -75.25915426760315, + -409.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -72.66107805624983, + -407.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -70.06300184489652, + -406.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -67.4649256335432, + -404.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -64.86684942218989, + -403.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -62.26877321083657, + -401.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -59.670696999483255, + -400.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -57.07262078812994, + -398.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -54.47454457677662, + -397.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -51.87646836542331, + -395.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -49.27839215406999, + -394.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -46.680315942716675, + -392.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -44.08223973136336, + -391.36903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -41.48416352001004, + -389.86903231114104, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -41.48416352001004, + -389.86903231114104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -39.98416352001004, + -387.2709560997877, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -38.48416352001004, + -384.6728798884344, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -368.0, + -0.096958 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-48-15_912194650/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-48-15_912194650/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85996fda40a82c3cbead8fc01bf548c5d6c62d3d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-48-15_912194650/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 936.7755830828388, + 576.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 936.7755830828388, + 579.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 936.7755830828388, + 582.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 936.7755830828388, + 585.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 936.7755830828388, + 588.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 936.7755830828388, + 591.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 936.7755830828388, + 594.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 936.7755830828388, + 597.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 936.7755830828388, + 600.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 936.7755830828388, + 603.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 936.7755830828388, + 606.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 936.7755830828388, + 609.6467263450731, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 936.7755830828388, + 609.6467263450731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 935.2755830828388, + 612.2448025564265, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 935.2755830828388, + 612.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 935.2755830828388, + 615.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 935.2755830828388, + 618.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 935.2755830828388, + 621.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 935.2755830828388, + 624.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 935.2755830828388, + 627.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 935.2755830828388, + 630.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 935.2755830828388, + 633.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 935.2755830828388, + 636.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 935.2755830828388, + 639.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 935.2755830828388, + 642.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 935.2755830828388, + 645.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 935.2755830828388, + 648.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 935.2755830828388, + 651.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 935.2755830828388, + 654.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 935.2755830828388, + 657.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 935.2755830828388, + 660.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 935.2755830828388, + 663.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 935.2755830828388, + 666.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 935.2755830828388, + 669.2448025564265, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 935.2755830828388, + 669.2448025564265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 936.7755830828388, + 671.8428787677799, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 938.2755830828388, + 674.4409549791333, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 939.7755830828388, + 677.0390311904866, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 736.0, + 0.328175 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-52-45_1727952741/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-52-45_1727952741/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91639e5e8d133825f419c49cec498e3db253381d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-52-45_1727952741/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 309.3896592402318, + 35.06467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 306.7915830288785, + 36.56467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 304.1935068175252, + 38.06467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 301.5954306061719, + 39.56467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 298.99735439481856, + 41.06467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.39927818346524, + 42.56467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 293.8012019721119, + 44.06467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 291.2031257607586, + 45.56467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 288.6050495494053, + 47.06467881763459, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 288.6050495494053, + 47.06467881763459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 287.1050495494053, + 49.6627550289879, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 285.6050495494053, + 52.26083124034122, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 284.1050495494053, + 54.858907451694535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 282.6050495494053, + 57.45698366304785, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 281.1050495494053, + 60.05505987440117, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 279.6050495494053, + 62.65313608575448, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 278.1050495494053, + 65.2512122971078, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 276.6050495494053, + 67.84928850846111, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 275.1050495494053, + 70.44736471981443, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 273.6050495494053, + 73.04544093116775, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 272.1050495494053, + 75.64351714252106, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 270.6050495494053, + 78.24159335387438, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 269.1050495494053, + 80.8396695652277, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 267.6050495494053, + 83.43774577658101, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 266.1050495494053, + 86.03582198793433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 264.6050495494053, + 88.63389819928764, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 263.1050495494053, + 91.23197441064096, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 261.6050495494053, + 93.83005062199427, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 260.1050495494053, + 96.42812683334759, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 258.6050495494053, + 99.0262030447009, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 257.1050495494053, + 101.62427925605422, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 255.6050495494053, + 104.22235546740754, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 254.1050495494053, + 106.82043167876085, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 252.6050495494053, + 109.41850789011417, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 251.1050495494053, + 112.01658410146749, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 249.6050495494053, + 114.6146603128208, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 248.1050495494053, + 117.21273652417412, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 246.6050495494053, + 119.81081273552743, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 245.1050495494053, + 122.40888894688075, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 245.1050495494053, + 122.40888894688075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 245.1050495494053, + 125.40888894688075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 245.1050495494053, + 128.40888894688075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 245.1050495494053, + 131.40888894688075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 245.1050495494053, + 134.40888894688075, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 245.1050495494053, + 137.40888894688075, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-54-2_1281944976/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-54-2_1281944976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..806b2e20f545c581a297f1288aa0d988fde002bf --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-54-2_1281944976/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 390.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 393.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 399.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 405.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 411.3411958316384, + -79.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 413.9392720429917, + -80.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.53734825434503, + -82.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 419.13542446569835, + -83.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 421.73350067705167, + -85.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 424.331576888405, + -86.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 426.9296530997583, + -88.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 429.5277293111116, + -89.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.12580552246493, + -91.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 434.72388173381825, + -92.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.32195794517156, + -94.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 439.9200341565249, + -95.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 442.5181103678782, + -97.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 445.1161865792315, + -98.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 447.7142627905848, + -100.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 450.31233900193814, + -101.78984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 452.91041521329146, + -103.28984463105644, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 452.91041521329146, + -103.28984463105644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 454.41041521329146, + -105.88792084240976, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 455.91041521329146, + -108.48599705376307, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 457.41041521329146, + -111.08407326511639, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 458.91041521329146, + -113.6821494764697, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 458.91041521329146, + -113.6821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 461.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 461.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 464.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 467.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 470.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 473.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 476.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 479.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 482.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 485.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 488.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 491.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 494.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 497.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 500.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 503.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 506.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 509.5084914246448, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 512.5084914246447, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 515.5084914246447, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 518.5084914246447, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 521.5084914246447, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 524.5084914246447, + -115.1821494764697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 527.5084914246447, + -115.1821494764697, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 548.0, + -120.0, + 50.6383 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-9-19_145186709/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-9-19_145186709/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c274610ff89fddc41b05437fcec3d23dd76867a0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_6-9-19_145186709/pose.jsonl @@ -0,0 +1,782 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1969.137715522166, + 371.27824908498957, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1966.5396393108126, + 369.77824908498957, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1966.5396393108126, + 369.77824908498957, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1965.0396393108126, + 367.18017287363625, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1963.5396393108126, + 364.58209666228294, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1962.0396393108126, + 361.9840204509296, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1960.5396393108126, + 359.3859442395763, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1959.0396393108126, + 356.787868028223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1957.5396393108126, + 354.1897918168697, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1956.0396393108126, + 351.59171560551636, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1954.5396393108126, + 348.99363939416304, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1953.0396393108126, + 346.3955631828097, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1951.5396393108126, + 343.7974869714564, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1950.0396393108126, + 341.1994107601031, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1948.5396393108126, + 338.6013345487498, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1947.0396393108126, + 336.00325833739646, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1947.0396393108126, + 336.00325833739646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1947.0396393108126, + 333.00325833739646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1947.0396393108126, + 330.00325833739646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1947.0396393108126, + 327.00325833739646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1947.0396393108126, + 324.00325833739646, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1947.0396393108126, + 324.00325833739646, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1945.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1945.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1945.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1942.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1939.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1936.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1933.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1930.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1927.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1924.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1921.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1918.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1915.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1912.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1909.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1906.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1903.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1900.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1897.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1894.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1891.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1888.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1885.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1882.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1879.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1876.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1873.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1870.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1867.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1864.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1861.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1861.5396393108126, + 321.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1858.9415630994592, + 319.90518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1856.3434868881059, + 318.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1853.7454106767525, + 316.90518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1851.1473344653991, + 315.40518212604314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1848.5492582540458, + 313.90518212604314, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1824.0, + 300.0, + -9.52448 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-1-22_2133584523/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-1-22_2133584523/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94e4f63e54175ff913467cb7152f8305377b2e81 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-1-22_2133584523/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 119.92151229454836, + 53.75155967328766, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 121.42151229454836, + 56.349635884640975, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 122.92151229454836, + 58.94771209599429, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 124.42151229454836, + 61.54578830734761, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 125.92151229454836, + 64.14386451870092, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 127.42151229454836, + 66.74194073005424, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 128.92151229454836, + 69.34001694140755, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 130.42151229454836, + 71.93809315276087, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 131.92151229454836, + 74.53616936411419, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 133.42151229454836, + 77.1342455754675, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 134.92151229454836, + 79.73232178682082, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 136.42151229454836, + 82.33039799817413, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 137.92151229454836, + 84.92847420952745, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 139.42151229454836, + 87.52655042088077, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 140.92151229454836, + 90.12462663223408, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 142.42151229454836, + 92.7227028435874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 143.92151229454836, + 95.32077905494072, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 145.42151229454836, + 97.91885526629403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 146.92151229454836, + 100.51693147764735, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 148.42151229454836, + 103.11500768900066, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 149.92151229454836, + 105.71308390035398, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 151.42151229454836, + 108.3111601117073, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 151.42151229454836, + 108.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 154.01958850590168, + 109.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 156.617664717255, + 111.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 159.2157409286083, + 112.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 161.81381713996163, + 114.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 164.41189335131494, + 115.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 167.00996956266826, + 117.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 169.60804577402158, + 118.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 172.2061219853749, + 120.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 174.8041981967282, + 121.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 177.40227440808152, + 123.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 180.00035061943484, + 124.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 182.59842683078816, + 126.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 185.19650304214147, + 127.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 187.7945792534948, + 129.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 190.3926554648481, + 130.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 192.99073167620142, + 132.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 195.58880788755474, + 133.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 198.18688409890805, + 135.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 200.78496031026137, + 136.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 203.38303652161468, + 138.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 205.981112732968, + 139.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 208.57918894432132, + 141.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 211.17726515567463, + 142.8111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 213.77534136702795, + 144.3111601117073, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 213.77534136702795, + 144.3111601117073, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 213.77534136702795, + 144.3111601117073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 213.77534136702795, + 147.3111601117073, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 228.0, + 164.0, + 51.3126 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-10-15_838139053/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-10-15_838139053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80e270af88590dedb03a804408edc1696da8b2e9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-10-15_838139053/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 971.4932600771917, + 560.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 971.4932600771917, + 563.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 971.4932600771917, + 566.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 971.4932600771917, + 569.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 971.4932600771917, + 572.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 971.4932600771917, + 575.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 971.4932600771917, + 578.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 971.4932600771917, + 581.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 971.4932600771917, + 584.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 971.4932600771917, + 587.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 971.4932600771917, + 590.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 971.4932600771917, + 593.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 971.4932600771917, + 596.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 971.4932600771917, + 599.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 971.4932600771917, + 602.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 971.4932600771917, + 605.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 971.4932600771917, + 608.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 971.4932600771917, + 611.715669361904, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 971.4932600771917, + 611.715669361904, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 972.9932600771917, + 614.3137455732574, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 972.9932600771917, + 614.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 972.9932600771917, + 617.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 972.9932600771917, + 620.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 972.9932600771917, + 623.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 972.9932600771917, + 626.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 972.9932600771917, + 629.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 972.9932600771917, + 632.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 972.9932600771917, + 635.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 972.9932600771917, + 638.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 972.9932600771917, + 641.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 972.9932600771917, + 644.3137455732574, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 972.9932600771917, + 644.3137455732574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 971.4932600771917, + 646.9118217846108, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 969.9932600771917, + 649.5098979959641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 968.4932600771917, + 652.1079742073175, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 966.9932600771917, + 654.7060504186709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 965.4932600771917, + 657.3041266300243, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 963.9932600771917, + 659.9022028413776, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 962.4932600771917, + 662.500279052731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 960.9932600771917, + 665.0983552640844, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 959.4932600771917, + 667.6964314754377, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 957.9932600771917, + 670.2945076867911, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 956.4932600771917, + 672.8925838981445, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 954.9932600771917, + 675.4906601094979, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 953.4932600771917, + 678.0887363208512, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 951.9932600771917, + 680.6868125322046, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 940.0, + 736.0, + 0.328175 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-11-7_1339388427/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-11-7_1339388427/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dfcd2cdf4d441747d8e63b244bf5c4409dd98d4d --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-11-7_1339388427/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1271.7517908318991, + 732.3734772273433, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1270.2517908318991, + 734.9715534386967, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1268.7517908318991, + 737.56962965005, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1267.2517908318991, + 740.1677058614034, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1265.7517908318991, + 742.7657820727568, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1264.2517908318991, + 745.3638582841102, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1262.7517908318991, + 747.9619344954635, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1261.2517908318991, + 750.5600107068169, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1259.7517908318991, + 753.1580869181703, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1258.2517908318991, + 755.7561631295237, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1256.7517908318991, + 758.354239340877, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1255.2517908318991, + 760.9523155522304, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1253.7517908318991, + 763.5503917635838, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1252.2517908318991, + 766.1484679749371, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1250.7517908318991, + 768.7465441862905, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1249.2517908318991, + 771.3446203976439, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1247.7517908318991, + 773.9426966089973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1246.2517908318991, + 776.5407728203506, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1244.7517908318991, + 779.138849031704, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1243.2517908318991, + 781.7369252430574, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1241.7517908318991, + 784.3350014544108, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1240.2517908318991, + 786.9330776657641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1238.7517908318991, + 789.5311538771175, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1237.2517908318991, + 792.1292300884709, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1235.7517908318991, + 794.7273062998242, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1235.7517908318991, + 794.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1235.7517908318991, + 797.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1235.7517908318991, + 800.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1235.7517908318991, + 803.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1235.7517908318991, + 806.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1235.7517908318991, + 809.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1235.7517908318991, + 812.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1235.7517908318991, + 815.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1235.7517908318991, + 818.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1235.7517908318991, + 821.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1235.7517908318991, + 824.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1235.7517908318991, + 827.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1235.7517908318991, + 830.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1235.7517908318991, + 833.7273062998242, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1235.7517908318991, + 833.7273062998242, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1235.7517908318991, + 833.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1233.1537146205458, + 835.2273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1230.5556384091924, + 836.7273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1227.957562197839, + 838.2273062998242, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1225.3594859864857, + 839.7273062998242, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 876.0, + 1.28005 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-2-57_689442530/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-2-57_689442530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f5f0ecae9a8a922ad4b3da48f190cfb37f34832 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-2-57_689442530/pose.jsonl @@ -0,0 +1,1107 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1391.3070277918116, + 765.1020682001057, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1389.8070277918116, + 767.700144411459, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1388.3070277918116, + 770.2982206228123, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1388.3070277918116, + 770.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1388.3070277918116, + 773.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1388.3070277918116, + 776.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1388.3070277918116, + 779.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1388.3070277918116, + 782.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1388.3070277918116, + 785.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1388.3070277918116, + 788.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1388.3070277918116, + 791.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1388.3070277918116, + 794.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1388.3070277918116, + 797.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1388.3070277918116, + 800.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1388.3070277918116, + 803.2982206228123, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1388.3070277918116, + 803.2982206228123, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1389.8070277918116, + 805.8962968341657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1391.3070277918116, + 808.4943730455191, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1392.8070277918116, + 811.0924492568724, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1394.3070277918116, + 813.6905254682258, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1395.8070277918116, + 816.2886016795792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1397.3070277918116, + 818.8866778909326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1398.8070277918116, + 821.4847541022859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1400.3070277918116, + 824.0828303136393, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1401.8070277918116, + 826.6809065249927, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1403.3070277918116, + 829.278982736346, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1404.8070277918116, + 831.8770589476994, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1406.3070277918116, + 834.4751351590528, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1407.8070277918116, + 837.0732113704062, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1409.3070277918116, + 839.6712875817595, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1410.8070277918116, + 842.2693637931129, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1410.8070277918116, + 842.2693637931129, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1410.8070277918116, + 845.2693637931129, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1410.8070277918116, + 845.2693637931129, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1412.3070277918116, + 847.8674400044663, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1413.8070277918116, + 850.4655162158197, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1415.3070277918116, + 853.063592427173, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1416.8070277918116, + 855.6616686385264, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1418.3070277918116, + 858.2597448498798, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1419.8070277918116, + 860.8578210612332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1421.3070277918116, + 863.4558972725865, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1422.8070277918116, + 866.0539734839399, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1422.8070277918116, + 866.0539734839399, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1422.8070277918116, + 869.0539734839399, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1422.8070277918116, + 872.0539734839399, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1422.8070277918116, + 872.0539734839399, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1424.3070277918116, + 874.6520496952933, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1425.8070277918116, + 877.2501259066466, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1427.3070277918116, + 879.848202118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1428.8070277918116, + 882.4462783293534, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1430.3070277918116, + 885.0443545407068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1431.8070277918116, + 887.6424307520601, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1433.3070277918116, + 890.2405069634135, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1433.3070277918116, + 890.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1433.3070277918116, + 893.2405069634135, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 1433.3070277918116, + 893.2405069634135, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 56, + "pos": [ + 1433.3070277918116, + 893.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 57, + "pos": [ + 1435.905104003165, + 894.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 58, + "pos": [ + 1438.5031802145184, + 896.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 59, + "pos": [ + 1441.1012564258717, + 897.7405069634135, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 60, + "pos": [ + 1441.1012564258717, + 897.7405069634135, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 61, + "pos": [ + 1441.1012564258717, + 897.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 62, + "pos": [ + 1443.699332637225, + 896.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 63, + "pos": [ + 1446.2974088485785, + 894.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 64, + "pos": [ + 1448.8954850599318, + 893.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 65, + "pos": [ + 1451.4935612712852, + 891.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 66, + "pos": [ + 1454.0916374826386, + 890.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 67, + "pos": [ + 1456.689713693992, + 888.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 68, + "pos": [ + 1459.2877899053453, + 887.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 69, + "pos": [ + 1461.8858661166987, + 885.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 70, + "pos": [ + 1464.483942328052, + 884.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 71, + "pos": [ + 1467.0820185394055, + 882.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 72, + "pos": [ + 1469.6800947507588, + 881.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 73, + "pos": [ + 1472.2781709621122, + 879.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 74, + "pos": [ + 1474.8762471734656, + 878.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 75, + "pos": [ + 1477.474323384819, + 876.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 76, + "pos": [ + 1480.0723995961723, + 875.2405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 77, + "pos": [ + 1482.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 78, + "pos": [ + 1482.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 79, + "pos": [ + 1485.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 80, + "pos": [ + 1488.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 81, + "pos": [ + 1491.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 82, + "pos": [ + 1494.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 83, + "pos": [ + 1497.6704758075257, + 873.7405069634135, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1516.0, + 892.0, + -0.375381 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-27-53_1558581086/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-27-53_1558581086/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08a81f45fcee58cadd3234c08ebf5b11ce75cefe --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-27-53_1558581086/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1927.9196096870755, + 389.03571132770446, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1929.4196096870755, + 391.6337875390578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1930.9196096870755, + 394.2318637504111, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1932.4196096870755, + 396.8299399617644, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1933.9196096870755, + 399.4280161731177, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1935.4196096870755, + 402.02609238447104, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1936.9196096870755, + 404.62416859582436, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1938.4196096870755, + 407.2222448071777, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1939.9196096870755, + 409.820321018531, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1941.4196096870755, + 412.4183972298843, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1942.9196096870755, + 415.0164734412376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1944.4196096870755, + 417.61454965259094, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1945.9196096870755, + 420.21262586394425, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1947.4196096870755, + 422.81070207529757, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1948.9196096870755, + 425.4087782866509, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1950.4196096870755, + 428.0068544980042, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1951.9196096870755, + 430.6049307093575, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1953.4196096870755, + 433.20300692071083, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1954.9196096870755, + 435.80108313206415, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1956.4196096870755, + 438.39915934341747, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1957.9196096870755, + 440.9972355547708, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1959.4196096870755, + 443.5953117661241, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1960.9196096870755, + 446.1933879774774, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1962.4196096870755, + 448.79146418883073, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1963.9196096870755, + 451.38954040018405, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1963.9196096870755, + 451.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1963.9196096870755, + 454.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1963.9196096870755, + 457.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1963.9196096870755, + 460.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1963.9196096870755, + 463.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1963.9196096870755, + 466.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1963.9196096870755, + 469.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1963.9196096870755, + 472.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1963.9196096870755, + 475.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1963.9196096870755, + 478.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1963.9196096870755, + 481.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1963.9196096870755, + 484.38954040018405, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1963.9196096870755, + 484.38954040018405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1965.4196096870755, + 486.98761661153736, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1966.9196096870755, + 489.5856928228907, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1968.4196096870755, + 492.183769034244, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1969.9196096870755, + 494.7818452455973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1971.4196096870755, + 497.3799214569506, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1972.9196096870755, + 499.97799766830394, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1974.4196096870755, + 502.57607387965726, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1975.9196096870755, + 505.1741500910106, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1977.4196096870755, + 507.7722263023639, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1978.9196096870755, + 510.3703025137172, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1980.4196096870755, + 512.9683787250706, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1981.9196096870755, + 515.566454936424, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1992.0, + 540.0, + 0.927712 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-31-18_1702943003/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-31-18_1702943003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..167578fdc7ee490715478ebaa4f6ea38e5699912 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-31-18_1702943003/pose.jsonl @@ -0,0 +1,691 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1229.5342264510293, + 750.1775830619652, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1228.0342264510293, + 752.7756592733185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1226.5342264510293, + 755.3737354846719, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1225.0342264510293, + 757.9718116960253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1223.5342264510293, + 760.5698879073786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1222.0342264510293, + 763.167964118732, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1220.5342264510293, + 765.7660403300854, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1219.0342264510293, + 768.3641165414388, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1217.5342264510293, + 770.9621927527921, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1216.0342264510293, + 773.5602689641455, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1214.5342264510293, + 776.1583451754989, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1213.0342264510293, + 778.7564213868523, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1211.5342264510293, + 781.3544975982056, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1211.5342264510293, + 781.3544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1208.936150239676, + 782.8544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1206.3380740283226, + 784.3544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1203.7399978169692, + 785.8544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1201.1419216056158, + 787.3544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1198.5438453942625, + 788.8544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1195.945769182909, + 790.3544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1193.3476929715557, + 791.8544975982056, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1193.3476929715557, + 791.8544975982056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1191.8476929715557, + 794.452573809559, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1190.3476929715557, + 797.0506500209124, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1188.8476929715557, + 799.6487262322657, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1187.3476929715557, + 802.2468024436191, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1185.8476929715557, + 804.8448786549725, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1184.3476929715557, + 807.4429548663259, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1182.8476929715557, + 810.0410310776792, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1181.3476929715557, + 812.6391072890326, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1179.8476929715557, + 815.237183500386, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1178.3476929715557, + 817.8352597117394, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1176.8476929715557, + 820.4333359230927, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1175.3476929715557, + 823.0314121344461, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1173.8476929715557, + 825.6294883457995, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1172.3476929715557, + 828.2275645571528, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1170.8476929715557, + 830.8256407685062, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1169.3476929715557, + 833.4237169798596, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1167.8476929715557, + 836.021793191213, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1166.3476929715557, + 838.6198694025663, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1164.8476929715557, + 841.2179456139197, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1163.3476929715557, + 843.8160218252731, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1161.8476929715557, + 846.4140980366265, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1160.3476929715557, + 849.0121742479798, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1158.8476929715557, + 851.6102504593332, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1157.3476929715557, + 854.2083266706866, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1155.8476929715557, + 856.80640288204, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1154.3476929715557, + 859.4044790933933, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1154.3476929715557, + 859.4044790933933, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1154.3476929715557, + 862.4044790933933, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1154.3476929715557, + 865.4044790933933, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1154.3476929715557, + 868.4044790933933, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1140.0, + 892.0, + 1.05541 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-32-42_1686518107/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-32-42_1686518107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fdb68c59f19ac215456814d956676e92591f6b2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-32-42_1686518107/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1040.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1037.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1034.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1031.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1028.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1025.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1022.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1019.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1016.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1013.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1010.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1007.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1004.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1001.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 998.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 995.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 992.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 989.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 986.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 983.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 980.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 977.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 974.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 971.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 968.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 965.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 962.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 959.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 956.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 953.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 950.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 950.8404097710052, + 370.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 948.2423335596518, + 372.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 945.6442573482984, + 373.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 943.046181136945, + 375.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 940.4481049255917, + 376.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 937.8500287142383, + 378.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 935.2519525028849, + 379.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 932.6538762915316, + 381.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 930.0558000801782, + 382.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 927.4577238688248, + 384.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 924.8596476574714, + 385.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 922.2615714461181, + 387.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 919.6634952347647, + 388.77798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 917.0654190234113, + 390.27798344878295, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 914.467342812058, + 391.77798344878295, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 888.0, + 396.0, + 1.13886 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-33-24_1946710049/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-33-24_1946710049/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..691055318a5c659ca393babd1fb671ea982184b3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-33-24_1946710049/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 982.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 979.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 976.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 973.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 970.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 967.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 964.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 961.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 958.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 955.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 952.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 949.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 946.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 943.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 940.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 937.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 934.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 931.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 928.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 925.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 922.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 919.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 916.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 916.9467559590685, + 604.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 914.3486797477151, + 605.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 911.7506035363617, + 607.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 909.1525273250084, + 608.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 906.554451113655, + 610.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 903.9563749023016, + 611.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 901.3582986909482, + 613.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 898.7602224795949, + 614.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 896.1621462682415, + 616.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 893.5640700568881, + 617.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 890.9659938455347, + 619.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 888.3679176341814, + 620.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 885.769841422828, + 622.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 883.1717652114746, + 623.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 880.5736890001212, + 625.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 877.9756127887679, + 626.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 875.3775365774145, + 628.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 872.7794603660611, + 629.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 870.1813841547078, + 631.2003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 867.5833079433544, + 632.7003365346902, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 864.985231732001, + 634.2003365346902, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 836.0, + 640.0, + 1.62652 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-38-19_777635325/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-38-19_777635325/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dd1a6ba1740b62efe5e0d6a4ab638d63ef81b366 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-38-19_777635325/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1228.818295810508, + 189.600358055936, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1230.318295810508, + 187.00228184458268, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1231.818295810508, + 184.40420563322937, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1233.318295810508, + 181.80612942187605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1234.818295810508, + 179.20805321052273, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1236.318295810508, + 176.60997699916942, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1237.818295810508, + 174.0119007878161, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1239.318295810508, + 171.4138245764628, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1240.818295810508, + 168.81574836510947, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1242.318295810508, + 166.21767215375615, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1243.818295810508, + 163.61959594240284, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1243.818295810508, + 163.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1243.818295810508, + 160.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1243.818295810508, + 157.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1243.818295810508, + 154.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1243.818295810508, + 151.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1243.818295810508, + 148.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1243.818295810508, + 145.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1243.818295810508, + 142.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1243.818295810508, + 139.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1243.818295810508, + 136.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1243.818295810508, + 133.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1243.818295810508, + 130.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1243.818295810508, + 127.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1243.818295810508, + 124.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1243.818295810508, + 121.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1243.818295810508, + 118.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1243.818295810508, + 115.61959594240284, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1243.818295810508, + 115.61959594240284, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1245.318295810508, + 113.02151973104952, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1246.818295810508, + 110.4234435196962, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1248.318295810508, + 107.82536730834289, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1249.818295810508, + 105.22729109698957, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1251.318295810508, + 102.62921488563626, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1252.818295810508, + 100.03113867428294, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1254.318295810508, + 97.43306246292963, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1255.818295810508, + 94.83498625157631, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1257.318295810508, + 92.236910040223, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1258.818295810508, + 89.63883382886968, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1260.318295810508, + 87.04075761751636, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1261.818295810508, + 84.44268140616305, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1263.318295810508, + 81.84460519480973, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1264.818295810508, + 79.24652898345641, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1264.818295810508, + 79.24652898345641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1267.4163720218614, + 77.74652898345641, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1270.0144482332148, + 76.24652898345641, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1292.0, + 28.0, + 0.65896 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-43-10_2028720897/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-43-10_2028720897/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd59ec2c884bf3179b0dc748ec7e7c2249cd2178 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-43-10_2028720897/pose.jsonl @@ -0,0 +1,678 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1514.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1517.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1520.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1523.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1526.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1529.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1532.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1535.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1538.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1541.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1544.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1547.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1550.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1553.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1553.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1553.6990204195965, + 847.801311338405, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1555.1990204195965, + 845.2032351270516, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1556.6990204195965, + 842.6051589156982, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1558.1990204195965, + 840.0070827043448, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1559.6990204195965, + 837.4090064929915, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1561.1990204195965, + 834.8109302816381, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1562.6990204195965, + 832.2128540702847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1564.1990204195965, + 829.6147778589313, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1565.6990204195965, + 827.016701647578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1567.1990204195965, + 824.4186254362246, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1568.6990204195965, + 821.8205492248712, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1570.1990204195965, + 819.2224730135179, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1570.1990204195965, + 819.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1570.1990204195965, + 816.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1570.1990204195965, + 813.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1570.1990204195965, + 810.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1570.1990204195965, + 807.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1570.1990204195965, + 804.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1570.1990204195965, + 801.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1570.1990204195965, + 798.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1570.1990204195965, + 795.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1570.1990204195965, + 792.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1570.1990204195965, + 789.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1570.1990204195965, + 786.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1570.1990204195965, + 783.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1570.1990204195965, + 780.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1570.1990204195965, + 777.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1570.1990204195965, + 774.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1570.1990204195965, + 771.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1570.1990204195965, + 768.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1570.1990204195965, + 765.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1570.1990204195965, + 762.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1570.1990204195965, + 759.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1570.1990204195965, + 756.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1570.1990204195965, + 753.2224730135179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1570.1990204195965, + 750.2224730135179, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-49-7_649022765/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-49-7_649022765/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83905ae3a54305dac1234fc572dae4651a509e5f --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-49-7_649022765/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1755.8427958679665, + 658.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1758.8427958679665, + 658.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1761.8427958679665, + 658.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1764.8427958679665, + 658.448916718859, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1764.8427958679665, + 658.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1767.44087207932, + 656.948916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1770.0389482906733, + 655.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1772.6370245020266, + 653.948916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1775.23510071338, + 652.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1777.8331769247334, + 650.948916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1780.4312531360868, + 649.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1783.0293293474401, + 647.948916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1785.6274055587935, + 646.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1788.2254817701469, + 644.948916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1790.8235579815002, + 643.448916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1793.4216341928536, + 641.948916718859, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1793.4216341928536, + 641.948916718859, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1794.9216341928536, + 639.3508405075056, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1796.4216341928536, + 636.7527642961522, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1797.9216341928536, + 634.1546880847989, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1799.4216341928536, + 631.5566118734455, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1800.9216341928536, + 628.9585356620921, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1802.4216341928536, + 626.3604594507387, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1803.9216341928536, + 623.7623832393854, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1805.4216341928536, + 621.164307028032, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1806.9216341928536, + 618.5662308166786, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1808.4216341928536, + 615.9681546053253, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1809.9216341928536, + 613.3700783939719, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1811.4216341928536, + 610.7720021826185, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1812.9216341928536, + 608.1739259712651, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1814.4216341928536, + 605.5758497599118, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1815.9216341928536, + 602.9777735485584, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1817.4216341928536, + 600.379697337205, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1818.9216341928536, + 597.7816211258516, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1820.4216341928536, + 595.1835449144983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1821.9216341928536, + 592.5854687031449, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1823.4216341928536, + 589.9873924917915, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1824.9216341928536, + 587.3893162804382, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1826.4216341928536, + 584.7912400690848, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1827.9216341928536, + 582.1931638577314, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1829.4216341928536, + 579.595087646378, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1830.9216341928536, + 576.9970114350247, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1832.4216341928536, + 574.3989352236713, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1833.9216341928536, + 571.8008590123179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1835.4216341928536, + 569.2027828009645, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1836.9216341928536, + 566.6047065896112, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1838.4216341928536, + 564.0066303782578, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1839.9216341928536, + 561.4085541669044, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-9-24_44804919/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-9-24_44804919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e7cf8faa7a4a3a3bcd6f527281fbd90d8fdf3ce --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_7-9-24_44804919/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 216.23939764288895, + 191.8433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 219.23939764288895, + 191.8433082452649, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 219.23939764288895, + 191.8433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 221.83747385424226, + 190.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 224.43555006559558, + 188.8433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 227.0336262769489, + 187.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 229.6317024883022, + 185.8433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 232.22977869965553, + 184.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 234.82785491100884, + 182.8433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 237.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 237.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 240.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 243.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 246.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 249.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 252.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 255.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 255.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 255.42593112236216, + 181.3433082452649, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 256.92593112236216, + 178.74523203391158, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 258.42593112236216, + 176.14715582255826, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 259.92593112236216, + 173.54907961120495, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 261.42593112236216, + 170.95100339985163, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 262.92593112236216, + 168.3529271884983, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 264.42593112236216, + 165.754850977145, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 265.92593112236216, + 163.15677476579168, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 267.42593112236216, + 160.55869855443837, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 268.92593112236216, + 157.96062234308505, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 270.42593112236216, + 155.36254613173173, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 271.92593112236216, + 152.76446992037842, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 273.42593112236216, + 150.1663937090251, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 274.92593112236216, + 147.56831749767179, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 276.42593112236216, + 144.97024128631847, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 277.92593112236216, + 142.37216507496515, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 279.42593112236216, + 139.77408886361184, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 280.92593112236216, + 137.17601265225852, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 282.42593112236216, + 134.5779364409052, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 283.92593112236216, + 131.9798602295519, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 285.42593112236216, + 129.38178401819857, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 286.92593112236216, + 126.78370780684526, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 288.42593112236216, + 124.18563159549194, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 289.92593112236216, + 121.58755538413862, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 291.42593112236216, + 118.98947917278531, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 292.92593112236216, + 116.391402961432, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 294.42593112236216, + 113.79332675007868, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 295.92593112236216, + 111.19525053872536, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 297.42593112236216, + 108.59717432737204, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 298.92593112236216, + 105.99909811601873, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 300.42593112236216, + 103.40102190466541, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 301.92593112236216, + 100.8029456933121, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 301.92593112236216, + 100.8029456933121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 301.92593112236216, + 97.8029456933121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 301.92593112236216, + 94.8029456933121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 301.92593112236216, + 91.8029456933121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 301.92593112236216, + 88.8029456933121, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + 301.92593112236216, + 85.8029456933121, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + 64.0, + -0.161909 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-10-51_87522686/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-10-51_87522686/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcb39364edc9df024fb7ef7464cd45aa0a90a259 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-10-51_87522686/pose.jsonl @@ -0,0 +1,704 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1424.5097579760336, + 439.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1424.5097579760336, + 436.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1424.5097579760336, + 433.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1424.5097579760336, + 430.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1424.5097579760336, + 427.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1424.5097579760336, + 424.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1424.5097579760336, + 421.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1424.5097579760336, + 418.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1424.5097579760336, + 415.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1424.5097579760336, + 412.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1424.5097579760336, + 409.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1424.5097579760336, + 406.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1424.5097579760336, + 403.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1424.5097579760336, + 400.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1424.5097579760336, + 397.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1424.5097579760336, + 394.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1424.5097579760336, + 391.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1424.5097579760336, + 388.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1424.5097579760336, + 385.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1424.5097579760336, + 382.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1424.5097579760336, + 379.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1424.5097579760336, + 376.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1424.5097579760336, + 373.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1424.5097579760336, + 370.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1424.5097579760336, + 367.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1424.5097579760336, + 364.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1424.5097579760336, + 361.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1424.5097579760336, + 358.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1424.5097579760336, + 355.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1424.5097579760336, + 352.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1424.5097579760336, + 349.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1424.5097579760336, + 346.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1424.5097579760336, + 343.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1424.5097579760336, + 340.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1424.5097579760336, + 337.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1424.5097579760336, + 334.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1424.5097579760336, + 331.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1424.5097579760336, + 328.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1424.5097579760336, + 325.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1424.5097579760336, + 322.2902563351133, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1424.5097579760336, + 322.2902563351133, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1424.5097579760336, + 322.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1421.9116817646802, + 320.7902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1419.3136055533269, + 319.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1416.7155293419735, + 317.7902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1414.11745313062, + 316.2902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1411.5193769192667, + 314.7902563351133, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1411.5193769192667, + 314.7902563351133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1410.0193769192667, + 312.19218012376, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1408.5193769192667, + 309.5941039124067, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1407.0193769192667, + 306.9960277010534, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1405.5193769192667, + 304.39795148970006, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1404.0193769192667, + 301.79987527834675, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1400.0, + 284.0, + -0.375381 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-14-52_1244453596/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-14-52_1244453596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4fde53d9636a30b4f64b262447c0bc6b5f63de2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-14-52_1244453596/pose.jsonl @@ -0,0 +1,639 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1879.7084660998648, + 227.50333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1877.1103898885115, + 226.00333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1874.512313677158, + 224.50333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1871.9142374658047, + 223.00333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1869.3161612544513, + 221.50333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1866.718085043098, + 220.00333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1864.1200088317446, + 218.50333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1861.5219326203912, + 217.00333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1858.9238564090379, + 215.50333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1856.3257801976845, + 214.00333103663996, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1856.3257801976845, + 214.00333103663996, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1854.8257801976845, + 211.40525482528665, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1853.3257801976845, + 208.80717861393333, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1851.8257801976845, + 206.20910240258002, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1850.3257801976845, + 203.6110261912267, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1848.8257801976845, + 201.01294997987338, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1847.3257801976845, + 198.41487376852007, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1845.8257801976845, + 195.81679755716675, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1844.3257801976845, + 193.21872134581344, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1842.8257801976845, + 190.62064513446012, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1841.3257801976845, + 188.0225689231068, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1839.8257801976845, + 185.4244927117535, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1838.3257801976845, + 182.82641650040017, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1836.8257801976845, + 180.22834028904686, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1835.3257801976845, + 177.63026407769354, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1833.8257801976845, + 175.03218786634022, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1832.3257801976845, + 172.4341116549869, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1830.8257801976845, + 169.8360354436336, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1829.3257801976845, + 167.23795923228028, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1827.8257801976845, + 164.63988302092696, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1826.3257801976845, + 162.04180680957364, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1824.8257801976845, + 159.44373059822033, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1824.8257801976845, + 159.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1822.227703986331, + 157.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1819.6296277749777, + 156.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1817.0315515636244, + 154.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1814.433475352271, + 153.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1811.8353991409176, + 151.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1809.2373229295642, + 150.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1806.6392467182109, + 148.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1804.0411705068575, + 147.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1801.4430942955041, + 145.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1798.8450180841508, + 144.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1796.2469418727974, + 142.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1793.648865661444, + 141.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1791.0507894500906, + 139.94373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1788.4527132387373, + 138.44373059822033, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1785.854637027384, + 136.94373059822033, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 120.0, + -7.2498 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-2-23_1233114544/pose.jsonl b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-2-23_1233114544/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8481f009a3b938632bee7ca7685f4f59bca3e365 --- /dev/null +++ b/Image/env_airsim_18/astar_data/medium_long/2025-1-9_8-2-23_1233114544/pose.jsonl @@ -0,0 +1,730 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1744.857768146035, + 677.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1747.4558443573883, + 675.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1750.0539205687417, + 674.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1752.651996780095, + 672.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1755.2500729914484, + 671.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1757.8481492028018, + 669.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1760.4462254141552, + 668.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1763.0443016255085, + 666.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1765.642377836862, + 665.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1768.2404540482153, + 663.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1770.8385302595686, + 662.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1773.436606470922, + 660.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1776.0346826822754, + 659.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1778.6327588936288, + 657.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1781.2308351049821, + 656.3022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1783.8289113163355, + 654.8022156814874, + 4.008504278406168 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1783.8289113163355, + 654.8022156814874, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1785.3289113163355, + 652.2041394701341, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1786.8289113163355, + 649.6060632587808, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1788.3289113163355, + 647.0079870474274, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1789.8289113163355, + 644.409910836074, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1791.3289113163355, + 641.8118346247206, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1792.8289113163355, + 639.2137584133673, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1794.3289113163355, + 636.6156822020139, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1795.8289113163355, + 634.0176059906605, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1797.3289113163355, + 631.4195297793071, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1798.8289113163355, + 628.8214535679538, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1800.3289113163355, + 626.2233773566004, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1801.8289113163355, + 623.625301145247, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1803.3289113163355, + 621.0272249338936, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1804.8289113163355, + 618.4291487225403, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1806.3289113163355, + 615.8310725111869, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1807.8289113163355, + 613.2329962998335, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1809.3289113163355, + 610.6349200884802, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1810.8289113163355, + 608.0368438771268, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1812.3289113163355, + 605.4387676657734, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1813.8289113163355, + 602.84069145442, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1815.3289113163355, + 600.2426152430667, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1816.8289113163355, + 597.6445390317133, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1818.3289113163355, + 595.0464628203599, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1819.8289113163355, + 592.4483866090065, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1821.3289113163355, + 589.8503103976532, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1822.8289113163355, + 587.2522341862998, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1824.3289113163355, + 584.6541579749464, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1825.8289113163355, + 582.056081763593, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1827.3289113163355, + 579.4580055522397, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1828.8289113163355, + 576.8599293408863, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1830.3289113163355, + 574.2618531295329, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1831.8289113163355, + 571.6637769181796, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 1833.3289113163355, + 569.0657007068262, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 1834.8289113163355, + 566.4676244954728, + 4.008504278406168 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 1834.8289113163355, + 566.4676244954728, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 1837.4269875276889, + 564.9676244954728, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 1840.0250637390423, + 563.4676244954728, + 4.008504278406168 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + 1842.6231399503956, + 561.9676244954728, + 4.008504278406168 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1860.0, + 540.0, + 0.167524 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}