diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-21-30_2115115464/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-21-30_2115115464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..184e01cd0922eab2a074f2d478b8ffeb58eda4aa --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-21-30_2115115464/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1644.8514403071963, + 28.051563085509713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1643.3514403071963, + 25.453486874156397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1641.8514403071963, + 22.85541066280308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1640.3514403071963, + 20.257334451449765, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1638.8514403071963, + 17.65925824009645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1637.3514403071963, + 15.061182028743133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1635.8514403071963, + 12.463105817389817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1634.3514403071963, + 9.8650296060365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1632.8514403071963, + 7.266953394683185, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1631.3514403071963, + 4.668877183329869, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1629.8514403071963, + 2.0708009719765528, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1628.3514403071963, + -0.5272752393767632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1626.8514403071963, + -3.1253514507300793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1625.3514403071963, + -5.723427662083395, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1623.8514403071963, + -8.321503873436711, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1622.3514403071963, + -10.919580084790027, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1620.8514403071963, + -13.517656296143343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1619.3514403071963, + -16.11573250749666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1617.8514403071963, + -18.713808718849975, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1617.8514403071963, + -18.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1617.8514403071963, + -21.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1617.8514403071963, + -24.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1617.8514403071963, + -27.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1617.8514403071963, + -30.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1617.8514403071963, + -33.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1617.8514403071963, + -36.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1617.8514403071963, + -39.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1617.8514403071963, + -42.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1617.8514403071963, + -45.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1617.8514403071963, + -48.713808718849975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1617.8514403071963, + -51.713808718849975, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1612.0, + -68.0, + 34.3503 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-28-57_2141153674/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-28-57_2141153674/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7681b6e65e520cee4860ccad69ed4617da46b7e9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-28-57_2141153674/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 287.611896915537, + 244.78457730437628, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 286.111896915537, + 242.18650109302297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 284.611896915537, + 239.58842488166965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 283.111896915537, + 236.99034867031634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 281.611896915537, + 234.39227245896302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 280.111896915537, + 231.7941962476097, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 278.611896915537, + 229.1961200362564, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 277.111896915537, + 226.59804382490307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 275.611896915537, + 223.99996761354976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 274.111896915537, + 221.40189140219644, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 272.611896915537, + 218.80381519084312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 271.111896915537, + 216.2057389794898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 269.611896915537, + 213.6076627681365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 268.111896915537, + 211.00958655678318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 266.611896915537, + 208.41151034542986, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 265.111896915537, + 205.81343413407654, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 263.611896915537, + 203.21535792272323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 262.111896915537, + 200.6172817113699, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 260.611896915537, + 198.0192055000166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 259.111896915537, + 195.42112928866328, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 257.611896915537, + 192.82305307730996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 256.111896915537, + 190.22497686595665, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 256.111896915537, + 190.22497686595665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 253.51382070418367, + 188.72497686595665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 250.91574449283036, + 187.22497686595665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 248.31766828147704, + 185.72497686595665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 245.71959207012372, + 184.22497686595665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 243.1215158587704, + 182.72497686595665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 240.5234396474171, + 181.22497686595665, + 17.46431138117525 + ], + "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/high_average/2025-1-10_0-31-0_437180529/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-31-0_437180529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..006af6da3968a735b2be0307adbe502bdc66eca1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-31-0_437180529/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1865.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1868.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1871.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1874.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1877.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1880.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1883.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1886.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1889.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1892.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1895.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1898.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1898.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1898.9943440662753, + 418.84014315271634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1900.4943440662753, + 421.43821936406965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1901.9943440662753, + 424.03629557542297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1903.4943440662753, + 426.6343717867763, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1904.9943440662753, + 429.2324479981296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1906.4943440662753, + 431.8305242094829, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1906.4943440662753, + 431.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1909.0924202776287, + 433.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1911.690496488982, + 434.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1914.2885727003354, + 436.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1916.8866489116888, + 437.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1919.4847251230422, + 439.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1922.0828013343955, + 440.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1924.680877545749, + 442.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1927.2789537571023, + 443.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1929.8770299684556, + 445.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1932.475106179809, + 446.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1935.0731823911624, + 448.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1937.6712586025158, + 449.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1940.2693348138691, + 451.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1942.8674110252225, + 452.8305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1945.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1945.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1948.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1951.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1954.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1957.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1960.4654872365759, + 454.3305242094829, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-34-34_1292850339/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-34-34_1292850339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e63fb906cf68197001d9eec71e1354aaf84a807 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-34-34_1292850339/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1003.4537764204999, + 778.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1006.0518526318533, + 777.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1008.6499288432067, + 775.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1011.24800505456, + 774.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1013.8460812659134, + 772.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1016.4441574772668, + 771.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1019.0422336886202, + 769.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1021.6403098999735, + 768.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1024.238386111327, + 766.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1026.8364623226803, + 765.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1029.4345385340337, + 763.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1032.032614745387, + 762.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1034.6306909567404, + 760.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1037.2287671680938, + 759.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1039.8268433794472, + 757.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1042.4249195908005, + 756.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1045.022995802154, + 754.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1047.6210720135073, + 753.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1050.2191482248606, + 751.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1052.817224436214, + 750.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1055.4153006475674, + 748.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1058.0133768589208, + 747.4966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1060.6114530702741, + 745.9966255306795, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1060.6114530702741, + 745.9966255306795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1062.1114530702741, + 743.3985493193261, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1063.6114530702741, + 740.8004731079727, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1065.1114530702741, + 738.2023968966193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1066.6114530702741, + 735.604320685266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1068.1114530702741, + 733.0062444739126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1069.6114530702741, + 730.4081682625592, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1071.1114530702741, + 727.8100920512059, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1072.6114530702741, + 725.2120158398525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1074.1114530702741, + 722.6139396284991, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-35-10_634172025/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-35-10_634172025/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..868fac082ea3af841050794996e4333de02a56be --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-35-10_634172025/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1901.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1904.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1907.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1910.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1913.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1916.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1919.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1922.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1925.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1928.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1931.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1934.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1937.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1937.0404261437307, + 57.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1939.638502355084, + 58.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1942.2365785664374, + 60.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1944.8346547777908, + 61.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1947.4327309891441, + 63.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1950.0308072004975, + 64.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1952.628883411851, + 66.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1955.2269596232043, + 67.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1957.8250358345576, + 69.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1960.423112045911, + 70.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1963.0211882572644, + 72.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1965.6192644686178, + 73.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1968.2173406799711, + 75.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1970.8154168913245, + 76.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1973.4134931026779, + 78.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1976.0115693140312, + 79.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1978.6096455253846, + 81.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1981.207721736738, + 82.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1983.8057979480914, + 84.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1986.4038741594447, + 85.98564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1989.001950370798, + 87.48564950869812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1991.6000265821515, + 88.98564950869812, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-35-30_1322710936/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-35-30_1322710936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a9d963266569a379a95049af9faa0d51f7bd2f6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-35-30_1322710936/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 266.31468907200747, + 157.66111199489706, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 267.81468907200747, + 160.25918820625037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.31468907200747, + 162.8572644176037, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 270.81468907200747, + 165.455340628957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 272.31468907200747, + 168.05341684031032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 273.81468907200747, + 170.65149305166364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.31468907200747, + 173.24956926301695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 276.81468907200747, + 175.84764547437027, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 278.31468907200747, + 178.44572168572358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 279.81468907200747, + 181.0437978970769, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 281.31468907200747, + 183.64187410843022, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 282.81468907200747, + 186.23995031978353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 284.31468907200747, + 188.83802653113685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 285.81468907200747, + 191.43610274249016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 287.31468907200747, + 194.03417895384348, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 288.81468907200747, + 196.6322551651968, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 290.31468907200747, + 199.2303313765501, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 291.81468907200747, + 201.82840758790343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 293.31468907200747, + 204.42648379925674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 294.81468907200747, + 207.02456001061006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 296.31468907200747, + 209.62263622196338, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.81468907200747, + 212.2207124333167, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 299.31468907200747, + 214.81878864467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 300.81468907200747, + 217.41686485602332, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 302.31468907200747, + 220.01494106737664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 303.81468907200747, + 222.61301727872996, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 303.81468907200747, + 222.61301727872996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 303.81468907200747, + 225.61301727872996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 303.81468907200747, + 228.61301727872996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 303.81468907200747, + 231.61301727872996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 303.81468907200747, + 234.61301727872996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 303.81468907200747, + 237.61301727872996, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "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/high_average/2025-1-10_0-49-23_1455371254/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-49-23_1455371254/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c7674c91f5a15a98085f60dbbf97adbde565e667 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-49-23_1455371254/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 463.789843683141, + 113.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 461.19176747178767, + 115.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 458.59369126043435, + 116.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 455.99561504908104, + 118.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 453.3975388377277, + 119.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 450.7994626263744, + 121.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 448.2013864150211, + 122.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 445.6033102036678, + 124.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 443.00523399231446, + 125.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 440.40715778096114, + 127.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 437.8090815696078, + 128.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 435.2110053582545, + 130.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 432.6129291469012, + 131.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 430.0148529355479, + 133.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 427.41677672419456, + 134.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 424.81870051284125, + 136.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 422.22062430148793, + 137.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 419.6225480901346, + 139.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 417.0244718787813, + 140.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 414.426395667428, + 142.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 411.82831945607467, + 143.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 409.23024324472135, + 145.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 406.63216703336803, + 146.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 404.0340908220147, + 148.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 401.4360146106614, + 149.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 398.8379383993081, + 151.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 396.23986218795477, + 152.94753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 393.64178597660145, + 154.44753926371777, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 393.64178597660145, + 154.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 390.64178597660145, + 154.44753926371777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 387.64178597660145, + 154.44753926371777, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "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/high_average/2025-1-10_0-57-8_1064651899/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-57-8_1064651899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80378022c68acbdbe5b7a5d5ee8986d5e6d5b55c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-57-8_1064651899/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 941.0779532249936, + 595.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 941.0779532249936, + 592.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 941.0779532249936, + 589.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 941.0779532249936, + 586.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 941.0779532249936, + 583.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 941.0779532249936, + 580.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 941.0779532249936, + 577.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 941.0779532249936, + 574.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 941.0779532249936, + 571.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 941.0779532249936, + 568.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 941.0779532249936, + 565.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 941.0779532249936, + 562.4713656706656, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 941.0779532249936, + 562.4713656706656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 942.5779532249936, + 559.8732894593122, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 948.0, + 464.0, + 139.324 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-59-9_612816071/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-59-9_612816071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..691c78b18d3ef716dd2abc8b852f455852672021 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-59-9_612816071/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1375.146597847126, + 770.7439600029587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1376.646597847126, + 768.1458837916055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1378.146597847126, + 765.5478075802521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1379.646597847126, + 762.9497313688987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1381.146597847126, + 760.3516551575453, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1382.646597847126, + 757.753578946192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1384.146597847126, + 755.1555027348386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1385.646597847126, + 752.5574265234852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1387.146597847126, + 749.9593503121318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1388.646597847126, + 747.3612741007785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1390.146597847126, + 744.7631978894251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1391.646597847126, + 742.1651216780717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1393.146597847126, + 739.5670454667184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1394.646597847126, + 736.968969255365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1396.146597847126, + 734.3708930440116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1397.646597847126, + 731.7728168326582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1399.146597847126, + 729.1747406213049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1400.646597847126, + 726.5766644099515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1402.146597847126, + 723.9785881985981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1403.646597847126, + 721.3805119872447, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1403.646597847126, + 721.3805119872447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1403.646597847126, + 718.3805119872447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1403.646597847126, + 715.3805119872447, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-9-33_940472515/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-9-33_940472515/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ca15de5ce127ddee1bfab929abd3176646aaa08 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_0-9-33_940472515/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.65888986761641, + -159.21260156831275, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 106.15888986761641, + -156.61452535695943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.65888986761641, + -154.01644914560612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 103.15888986761641, + -151.4183729342528, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.65888986761641, + -148.82029672289949, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 100.15888986761641, + -146.22222051154617, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.65888986761641, + -143.62414430019285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.15888986761641, + -141.02606808883954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.65888986761641, + -138.42799187748622, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 94.15888986761641, + -135.8299156661329, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.65888986761641, + -133.2318394547796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.15888986761641, + -130.63376324342627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.65888986761641, + -128.03568703207296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.15888986761641, + -125.43761082071964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.65888986761641, + -122.83953460936632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 85.15888986761641, + -120.24145839801301, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.65888986761641, + -117.6433821866597, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 82.15888986761641, + -115.04530597530638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 80.65888986761641, + -112.44722976395306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 79.15888986761641, + -109.84915355259974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 77.65888986761641, + -107.25107734124643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 76.15888986761641, + -104.65300112989311, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.65888986761641, + -102.0549249185398, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 73.15888986761641, + -99.45684870718648, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 71.65888986761641, + -96.85877249583316, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 70.15888986761641, + -94.26069628447985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 68.65888986761641, + -91.66262007312653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 67.15888986761641, + -89.06454386177322, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.65888986761641, + -86.4664676504199, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 64.15888986761641, + -83.86839143906658, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 62.65888986761641, + -81.27031522771327, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 62.65888986761641, + -81.27031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 60.06081365626309, + -79.77031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 57.46273744490978, + -78.27031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 54.86466123355646, + -76.77031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 52.266585022203145, + -75.27031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 49.66850881084983, + -73.77031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 47.07043259949651, + -72.27031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 44.4723563881432, + -70.77031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 41.87428017678988, + -69.27031522771327, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 41.87428017678988, + -69.27031522771327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 40.37428017678988, + -66.67223901635995, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 38.87428017678988, + -64.07416280500664, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "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/high_average/2025-1-10_1-12-59_438485374/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-12-59_438485374/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b37f319ccce7c6bd65f812cf523a8fe99d8f5aa2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-12-59_438485374/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1811.9919764351355, + 254.02057280653764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1810.4919764351355, + 256.61864901789096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1808.9919764351355, + 259.2167252292443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1807.4919764351355, + 261.8148014405976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1805.9919764351355, + 264.4128776519509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1804.4919764351355, + 267.0109538633042, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1802.9919764351355, + 269.60903007465754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1801.4919764351355, + 272.20710628601086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1799.9919764351355, + 274.80518249736417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1798.4919764351355, + 277.4032587087175, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1796.9919764351355, + 280.0013349200708, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1795.4919764351355, + 282.5994111314241, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1793.9919764351355, + 285.19748734277744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1792.4919764351355, + 287.79556355413075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1790.9919764351355, + 290.39363976548407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1789.4919764351355, + 292.9917159768374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1787.9919764351355, + 295.5897921881907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1786.4919764351355, + 298.187868399544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1784.9919764351355, + 300.78594461089733, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1784.9919764351355, + 300.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1784.9919764351355, + 303.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1784.9919764351355, + 306.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1784.9919764351355, + 309.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1784.9919764351355, + 312.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1784.9919764351355, + 315.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1784.9919764351355, + 318.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1784.9919764351355, + 321.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1784.9919764351355, + 324.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1784.9919764351355, + 327.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1784.9919764351355, + 330.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1784.9919764351355, + 333.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1784.9919764351355, + 336.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1784.9919764351355, + 339.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1784.9919764351355, + 342.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1784.9919764351355, + 345.78594461089733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1784.9919764351355, + 348.78594461089733, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-15-57_1667250732/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-15-57_1667250732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e9baa5384a7b4a7b11d476622515e0eca9ea0d3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-15-57_1667250732/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1175.477925549505, + 779.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1172.8798493381516, + 777.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1170.2817731267983, + 776.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1167.683696915445, + 774.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1165.0856207040915, + 773.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1162.4875444927382, + 771.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1159.8894682813848, + 770.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1157.2913920700314, + 768.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1154.693315858678, + 767.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1152.0952396473247, + 765.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1149.4971634359713, + 764.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1146.899087224618, + 762.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1144.3010110132645, + 761.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1141.7029348019112, + 759.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1139.1048585905578, + 758.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1136.5067823792044, + 756.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1133.908706167851, + 755.1471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1131.3106299564977, + 753.6471781066543, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1131.3106299564977, + 753.6471781066543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1129.8106299564977, + 751.049101895301, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1128.3106299564977, + 748.4510256839476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1126.8106299564977, + 745.8529494725942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1125.3106299564977, + 743.2548732612408, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1123.8106299564977, + 740.6567970498875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1122.3106299564977, + 738.0587208385341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1120.8106299564977, + 735.4606446271807, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1119.3106299564977, + 732.8625684158274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1117.8106299564977, + 730.264492204474, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-25-31_2122466788/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-25-31_2122466788/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc672b00e51e061aeeb52b772b332a060c2a8517 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-25-31_2122466788/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1953.6074492292312, + 62.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1953.6074492292312, + 59.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1953.6074492292312, + 56.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1953.6074492292312, + 53.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1953.6074492292312, + 50.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1953.6074492292312, + 47.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1953.6074492292312, + 44.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1953.6074492292312, + 41.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1953.6074492292312, + 38.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1953.6074492292312, + 35.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1953.6074492292312, + 32.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1953.6074492292312, + 29.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1953.6074492292312, + 26.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1953.6074492292312, + 23.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1953.6074492292312, + 20.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1953.6074492292312, + 17.8622428824236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1953.6074492292312, + 14.862242882423601, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1953.6074492292312, + 14.862242882423601, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1952.1074492292312, + 12.264166671070285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1950.6074492292312, + 9.666090459716969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1949.1074492292312, + 7.068014248363653, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1947.6074492292312, + 4.469938037010337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1946.1074492292312, + 1.871861825657021, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1944.6074492292312, + -0.726214385696295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1943.1074492292312, + -3.324290597049611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1941.6074492292312, + -5.922366808402927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1940.1074492292312, + -8.520443019756243, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1940.1074492292312, + -8.520443019756243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1940.1074492292312, + -11.520443019756243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1940.1074492292312, + -14.520443019756243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1940.1074492292312, + -17.520443019756243, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-59_1626870461/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-59_1626870461/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7b9f0bc20a3f3d6f24441a848a431909a5b335c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-27-59_1626870461/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1926.514362379188, + 23.447202809913392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1925.014362379188, + 20.849126598560076, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1923.514362379188, + 18.25105038720676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1922.014362379188, + 15.652974175853444, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1920.514362379188, + 13.054897964500128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1919.014362379188, + 10.456821753146812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1917.514362379188, + 7.858745541793496, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1916.014362379188, + 5.26066933044018, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1914.514362379188, + 2.662593119086864, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1913.014362379188, + 0.06451690773354812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1911.514362379188, + -2.533559303619768, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1910.014362379188, + -5.131635514973084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1908.514362379188, + -7.7297117263264, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1907.014362379188, + -10.327787937679716, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1905.514362379188, + -12.925864149033032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1904.014362379188, + -15.523940360386348, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1902.514362379188, + -18.122016571739664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1901.014362379188, + -20.72009278309298, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1899.514362379188, + -23.318168994446296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1898.014362379188, + -25.916245205799612, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1896.514362379188, + -28.514321417152928, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1895.014362379188, + -31.112397628506244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1893.514362379188, + -33.71047383985956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1892.014362379188, + -36.308550051212876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1890.514362379188, + -38.90662626256619, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1889.014362379188, + -41.50470247391951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1887.514362379188, + -44.102778685272824, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "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/high_average/2025-1-10_1-29-56_2143493320/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-29-56_2143493320/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3f93b7a92ed79360248c1b93bbf751687022d080 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-29-56_2143493320/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1527.9453319653437, + 108.94924023337887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1530.9453319653437, + 108.94924023337887, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1530.9453319653437, + 108.94924023337887, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1530.9453319653437, + 108.94924023337887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1532.4453319653437, + 111.54731644473219, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1533.9453319653437, + 114.1453926560855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1535.4453319653437, + 116.74346886743882, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1535.4453319653437, + 116.74346886743882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1538.043408176697, + 118.24346886743882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1540.6414843880505, + 119.74346886743882, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "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/high_average/2025-1-10_1-37-30_955798986/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-37-30_955798986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..647903c6124b03eb8491020585d6697acd1e3067 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-37-30_955798986/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1098.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1101.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1104.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1107.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1110.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1113.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1116.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1119.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1122.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1122.4696305101443, + 498.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1125.0677067214976, + 496.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1127.665782932851, + 495.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1130.2638591442044, + 493.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1132.8619353555578, + 492.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1135.4600115669111, + 490.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1138.0580877782645, + 489.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1140.6561639896179, + 487.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1143.2542402009713, + 486.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1145.8523164123246, + 484.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1148.450392623678, + 483.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1151.0484688350314, + 481.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1153.6465450463847, + 480.2436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1156.2446212577381, + 478.7436222973533, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1156.2446212577381, + 478.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1159.2446212577381, + 478.7436222973533, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1162.2446212577381, + 478.7436222973533, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-38-1_859310840/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-38-1_859310840/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2d3e22cf84c536d7be0f7ef3fb4b3fd21e05083 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-38-1_859310840/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 670.9847069684115, + -21.51451015428539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 672.4847069684115, + -18.916433942932073, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 673.9847069684115, + -16.318357731578757, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 675.4847069684115, + -13.720281520225441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 676.9847069684115, + -11.122205308872125, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 678.4847069684115, + -8.52412909751881, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 679.9847069684115, + -5.926052886165493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 681.4847069684115, + -3.3279766748121773, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 682.9847069684115, + -0.7299004634588613, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 684.4847069684115, + 1.8681757478944547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 685.9847069684115, + 4.466251959247771, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 687.4847069684115, + 7.064328170601087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 688.9847069684115, + 9.662404381954403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 690.4847069684115, + 12.260480593307719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 691.9847069684115, + 14.858556804661035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 693.4847069684115, + 17.45663301601435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 694.9847069684115, + 20.054709227367667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 696.4847069684115, + 22.652785438720983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 697.9847069684115, + 25.2508616500743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 699.4847069684115, + 27.848937861427615, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 700.9847069684115, + 30.44701407278093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 702.4847069684115, + 33.04509028413425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 703.9847069684115, + 35.64316649548756, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 703.9847069684115, + 35.64316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 706.5827831797649, + 37.14316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 709.1808593911182, + 38.64316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 711.7789356024716, + 40.14316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 714.377011813825, + 41.64316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 716.9750880251784, + 43.14316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 719.5731642365317, + 44.64316649548756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 722.1712404478851, + 46.14316649548756, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-45-26_1823025015/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-45-26_1823025015/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..beb0a206a06035eb12d901495dab96f0c1a7bcc7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-45-26_1823025015/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1862.7364586164695, + 743.6502598035136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1865.7364586164695, + 743.6502598035136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1868.7364586164695, + 743.6502598035136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1871.7364586164695, + 743.6502598035136, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1871.7364586164695, + 743.6502598035136, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1871.7364586164695, + 743.6502598035136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1873.2364586164695, + 746.2483360148669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1874.7364586164695, + 748.8464122262203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1876.2364586164695, + 751.4444884375737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1877.7364586164695, + 754.042564648927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1879.2364586164695, + 756.6406408602804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1880.7364586164695, + 759.2387170716338, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1882.2364586164695, + 761.8367932829872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1883.7364586164695, + 764.4348694943405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1885.2364586164695, + 767.0329457056939, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1885.2364586164695, + 767.0329457056939, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1887.8345348278228, + 768.5329457056939, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-46-51_1278792724/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-46-51_1278792724/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4dc558e4631e011d9f52815597490d8e2b132189 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-46-51_1278792724/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 343.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 340.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 337.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 334.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 331.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 328.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 325.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 322.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 319.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 316.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 313.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 310.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 307.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 304.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 301.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 298.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 295.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 292.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 286.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 283.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 280.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 277.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 274.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 271.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 268.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 265.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 262.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 259.9948186703556, + 164.02295532504957, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "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/high_average/2025-1-10_1-49-44_1460674641/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-49-44_1460674641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..829de9748a54000f9215c325165b6b7bd09afccc --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-49-44_1460674641/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 854.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 851.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 848.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 845.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 842.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 839.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 836.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 833.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 830.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 827.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 824.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 821.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 818.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 815.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 812.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 809.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 806.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 803.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 800.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 797.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 794.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 791.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 788.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 785.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 782.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 779.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 776.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 773.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 770.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 770.3021376753941, + 71.54434766802983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 767.7040614640407, + 70.04434766802983, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 740.0, + 68.0, + 34.5123 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-6-47_964263748/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-6-47_964263748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22fd9ce30d4620bd615f2b0f900ce40c24ab89d4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-6-47_964263748/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1861.696621425552, + 929.1261796398402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1863.196621425552, + 926.5281034284869, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1864.696621425552, + 923.9300272171336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1866.196621425552, + 921.3319510057802, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1867.696621425552, + 918.7338747944268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1869.196621425552, + 916.1357985830734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1870.696621425552, + 913.5377223717201, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1872.196621425552, + 910.9396461603667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1873.696621425552, + 908.3415699490133, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1875.196621425552, + 905.74349373766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1876.696621425552, + 903.1454175263066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1878.196621425552, + 900.5473413149532, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1879.696621425552, + 897.9492651035998, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1881.196621425552, + 895.3511888922465, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1882.696621425552, + 892.7531126808931, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1884.196621425552, + 890.1550364695397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1885.696621425552, + 887.5569602581863, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1887.196621425552, + 884.958884046833, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1888.696621425552, + 882.3608078354796, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1890.196621425552, + 879.7627316241262, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1891.696621425552, + 877.1646554127728, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1893.196621425552, + 874.5665792014195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1894.696621425552, + 871.9685029900661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1896.196621425552, + 869.3704267787127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1897.696621425552, + 866.7723505673594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1899.196621425552, + 864.174274356006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1900.696621425552, + 861.5761981446526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1902.196621425552, + 858.9781219332992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1903.696621425552, + 856.3800457219459, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1905.196621425552, + 853.7819695105925, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1906.696621425552, + 851.1838932992391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1908.196621425552, + 848.5858170878857, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1908.196621425552, + 848.5858170878857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1910.7946976369053, + 847.0858170878857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1913.3927738482587, + 845.5858170878857, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1915.990850059612, + 844.0858170878857, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-8-33_1478705400/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-8-33_1478705400/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..176aab964c6ab1c2f8ed67c3424682a25a3b62ad --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-10_1-8-33_1478705400/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1886.9295204322411, + -175.3623518400916, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1888.4295204322411, + -172.7642756287383, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1889.9295204322411, + -170.16619941738497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1891.4295204322411, + -167.56812320603166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1892.9295204322411, + -164.97004699467834, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1894.4295204322411, + -162.37197078332503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1895.9295204322411, + -159.7738945719717, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1897.4295204322411, + -157.1758183606184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1898.9295204322411, + -154.57774214926508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1900.4295204322411, + -151.97966593791176, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1901.9295204322411, + -149.38158972655845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1903.4295204322411, + -146.78351351520513, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1904.9295204322411, + -144.1854373038518, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1906.4295204322411, + -141.5873610924985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1907.9295204322411, + -138.98928488114518, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1909.4295204322411, + -136.39120866979187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1910.9295204322411, + -133.79313245843855, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1912.4295204322411, + -131.19505624708523, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1913.9295204322411, + -128.59698003573192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1915.4295204322411, + -125.9989038243786, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1916.9295204322411, + -123.40082761302529, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1916.9295204322411, + -123.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1916.9295204322411, + -120.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1916.9295204322411, + -117.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1916.9295204322411, + -114.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1916.9295204322411, + -111.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1916.9295204322411, + -108.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1916.9295204322411, + -105.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1916.9295204322411, + -102.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1916.9295204322411, + -99.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1916.9295204322411, + -96.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1916.9295204322411, + -93.40082761302529, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1916.9295204322411, + -90.40082761302529, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-54-11_719885386/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-54-11_719885386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d7fd9a8b9d72ac43db823bd532fd796acb0039e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-54-11_719885386/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1325.402286227155, + 797.4777058195965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1323.902286227155, + 800.0757820309498, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1322.402286227155, + 802.6738582423031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1320.902286227155, + 805.2719344536565, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1320.902286227155, + 805.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1318.3042100158016, + 806.7719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1315.7061338044482, + 808.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1313.1080575930948, + 809.7719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1310.5099813817415, + 811.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1307.911905170388, + 812.7719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1305.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1305.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1302.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1299.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1296.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1293.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1290.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1287.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1284.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1281.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1278.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1275.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1272.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1269.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1266.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1263.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1260.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1257.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1254.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1251.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1248.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1245.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1242.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1239.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1236.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1233.3138289590347, + 814.2719344536565, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-42_1303455736/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-42_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..344209396fc6fad7ebc4ecaf85ac6beb9432976b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_15-57-42_1303455736/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 881.229698523844, + -183.30665437973545, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 879.729698523844, + -185.90473059108876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 878.229698523844, + -188.50280680244208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 876.729698523844, + -191.1008830137954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 875.229698523844, + -193.6989592251487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 873.729698523844, + -196.29703543650203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 872.229698523844, + -198.89511164785534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 870.729698523844, + -201.49318785920866, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 869.229698523844, + -204.09126407056198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 867.729698523844, + -206.6893402819153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 866.229698523844, + -209.2874164932686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 864.729698523844, + -211.88549270462192, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 863.229698523844, + -214.48356891597524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 861.729698523844, + -217.08164512732856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 860.229698523844, + -219.67972133868187, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 858.729698523844, + -222.2777975500352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 857.229698523844, + -224.8758737613885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 855.729698523844, + -227.47394997274182, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 855.729698523844, + -227.47394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 853.1316223124907, + -228.97394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 850.5335461011373, + -230.47394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 847.9354698897839, + -231.97394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 845.3373936784305, + -233.47394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 842.7393174670772, + -234.97394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 840.1412412557238, + -236.47394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 837.5431650443704, + -237.97394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 834.945088833017, + -239.47394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 832.3470126216637, + -240.97394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 829.7489364103103, + -242.47394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 827.1508601989569, + -243.97394997274182, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 824.5527839876036, + -245.47394997274182, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-20-30_1264095060/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-20-30_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e62a985296a07e54a34f7f30c67a543d29ad59d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-20-30_1264095060/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.22221573714967, + 242.09907263695655, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -91.72221573714967, + 244.69714884830987, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -90.22221573714967, + 247.29522505966318, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -88.72221573714967, + 249.8933012710165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.22221573714967, + 252.4913774823698, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -85.72221573714967, + 255.08945369372313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -84.22221573714967, + 257.6875299050764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196593 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -82.72221573714967, + 260.28560611642973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.22221573714967, + 262.88368232778305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -79.72221573714967, + 265.48175853913637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -78.22221573714967, + 268.0798347504897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -76.72221573714967, + 270.677910961843, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -75.22221573714967, + 273.2759871731963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -73.72221573714967, + 275.87406338454963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -72.22221573714967, + 278.47213959590295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -70.72221573714967, + 281.07021580725626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -69.22221573714967, + 283.6682920186096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -67.72221573714967, + 286.2663682299629, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -66.22221573714967, + 288.8644444413162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -64.72221573714967, + 291.4625206526695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -63.22221573714967, + 294.06059686402284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -61.72221573714967, + 296.65867307537616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -60.22221573714967, + 299.2567492867295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -58.72221573714967, + 301.8548254980828, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -57.22221573714967, + 304.4529017094361, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -55.72221573714967, + 307.0509779207894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -54.22221573714967, + 309.64905413214274, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -54.22221573714967, + 309.64905413214274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -54.22221573714967, + 312.64905413214274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -54.22221573714967, + 315.64905413214274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -54.22221573714967, + 318.64905413214274, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-24-6_1975960378/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-24-6_1975960378/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cc60d53e436f7a1dfb1cebfc3a9967ff1e87bdf --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-24-6_1975960378/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1912.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1915.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1918.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1921.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1924.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1927.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1930.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1933.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1936.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1939.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1942.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1945.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1945.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1945.6661850775904, + 58.983693406955084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1947.1661850775904, + 61.5817696183084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1948.6661850775904, + 64.17984582966172, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1950.1661850775904, + 66.77792204101503, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1950.1661850775904, + 66.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1952.7642612889438, + 68.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1955.3623375002971, + 69.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1957.9604137116505, + 71.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1960.558489923004, + 72.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1963.1565661343573, + 74.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1965.7546423457106, + 75.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1968.352718557064, + 77.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1970.9507947684174, + 78.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1973.5488709797708, + 80.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1976.1469471911241, + 81.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1978.7450234024775, + 83.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1981.3430996138309, + 84.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1983.9411758251842, + 86.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1986.5392520365376, + 87.77792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1989.137328247891, + 89.27792204101503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1991.7354044592444, + 90.77792204101503, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-25-2_1376710097/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-25-2_1376710097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e0a07e2e1cc8ec9e3a2af5ad790baa295e2469d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-25-2_1376710097/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1194.1683161427086, + 690.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1194.1683161427086, + 693.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1194.1683161427086, + 696.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1194.1683161427086, + 699.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1194.1683161427086, + 702.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1194.1683161427086, + 705.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1194.1683161427086, + 708.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1194.1683161427086, + 711.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1194.1683161427086, + 714.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1194.1683161427086, + 717.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1194.1683161427086, + 720.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1194.1683161427086, + 723.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1194.1683161427086, + 726.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1194.1683161427086, + 729.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1194.1683161427086, + 732.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1194.1683161427086, + 735.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1194.1683161427086, + 738.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1194.1683161427086, + 741.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1194.1683161427086, + 744.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1194.1683161427086, + 747.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1194.1683161427086, + 750.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1194.1683161427086, + 753.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1194.1683161427086, + 756.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1194.1683161427086, + 759.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1194.1683161427086, + 762.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1194.1683161427086, + 765.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1194.1683161427086, + 768.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1194.1683161427086, + 771.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1194.1683161427086, + 774.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1194.1683161427086, + 777.1832142759143, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1194.1683161427086, + 777.1832142759143, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1195.6683161427086, + 779.7812904872676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1197.1683161427086, + 782.379366698621, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1198.6683161427086, + 784.9774429099743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1200.1683161427086, + 787.5755191213277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1201.6683161427086, + 790.1735953326811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1203.1683161427086, + 792.7716715440345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1204.6683161427086, + 795.3697477553878, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-29-26_270744729/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-29-26_270744729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8145b31f4d34a056e7fab8bafb01c881620e598 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-29-26_270744729/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 629.8868461832764, + -170.497719843181, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 631.3868461832764, + -167.89964363182767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 632.8868461832764, + -165.30156742047436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 634.3868461832764, + -162.70349120912104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 635.8868461832764, + -160.10541499776772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 637.3868461832764, + -157.5073387864144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 638.8868461832764, + -154.9092625750611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 640.3868461832764, + -152.31118636370778, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 641.8868461832764, + -149.71311015235446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 643.3868461832764, + -147.11503394100114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 644.8868461832764, + -144.51695772964783, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 646.3868461832764, + -141.9188815182945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 647.8868461832764, + -139.3208053069412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 649.3868461832764, + -136.72272909558788, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 650.8868461832764, + -134.12465288423456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 652.3868461832764, + -131.52657667288125, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 653.8868461832764, + -128.92850046152793, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 655.3868461832764, + -126.33042425017462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 656.8868461832764, + -123.7323480388213, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 658.3868461832764, + -121.13427182746798, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 659.8868461832764, + -118.53619561611467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 661.3868461832764, + -115.93811940476135, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 662.8868461832764, + -113.34004319340804, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 662.8868461832764, + -113.34004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 665.4849223946296, + -111.84004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 668.082998605983, + -110.34004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 670.6810748173364, + -108.84004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 673.2791510286897, + -107.34004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 675.8772272400431, + -105.84004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 678.4753034513965, + -104.34004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 681.0733796627499, + -102.84004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 683.6714558741032, + -101.34004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 686.2695320854566, + -99.84004319340804, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 686.2695320854566, + -99.84004319340804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 687.7695320854566, + -97.24196698205472, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "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/high_average/2025-1-9_16-3-53_1656478042/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-3-53_1656478042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8b8203697f407a39a9cded058b3f216c0dcf21a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-3-53_1656478042/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 838.1922752579766, + -144.76794291504422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 835.5941990466233, + -146.26794291504422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 832.99612283527, + -147.76794291504422, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 832.99612283527, + -147.76794291504422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 831.49612283527, + -150.36601912639753, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 829.99612283527, + -152.96409533775085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 828.49612283527, + -155.56217154910416, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 826.99612283527, + -158.16024776045748, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 825.49612283527, + -160.7583239718108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 823.99612283527, + -163.3564001831641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 822.49612283527, + -165.95447639451743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 820.99612283527, + -168.55255260587074, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 819.49612283527, + -171.15062881722406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 817.99612283527, + -173.74870502857738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 816.49612283527, + -176.3467812399307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 814.99612283527, + -178.944857451284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 813.49612283527, + -181.54293366263732, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 813.49612283527, + -181.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 813.49612283527, + -184.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 813.49612283527, + -187.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 813.49612283527, + -190.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 813.49612283527, + -193.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 813.49612283527, + -196.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 813.49612283527, + -199.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 813.49612283527, + -202.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 813.49612283527, + -205.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 813.49612283527, + -208.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 813.49612283527, + -211.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 813.49612283527, + -214.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 813.49612283527, + -217.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 813.49612283527, + -220.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 813.49612283527, + -223.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 813.49612283527, + -226.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 813.49612283527, + -229.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 813.49612283527, + -232.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 813.49612283527, + -235.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 813.49612283527, + -238.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 813.49612283527, + -241.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 813.49612283527, + -244.54293366263732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 813.49612283527, + -247.54293366263732, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-32-35_498777856/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-32-35_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cfba8ae89f5b9e1be24619cfcb9ecb92df9c707d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-32-35_498777856/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1096.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1099.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1102.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1105.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1108.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1111.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1114.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1117.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1120.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1120.2130371013184, + 772.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1122.8111133126718, + 774.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1125.4091895240251, + 775.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1128.0072657353785, + 777.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1130.6053419467319, + 778.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1133.2034181580852, + 780.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1135.8014943694386, + 781.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1138.399570580792, + 783.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1140.9976467921454, + 784.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1143.5957230034987, + 786.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1146.193799214852, + 787.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1148.7918754262055, + 789.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1151.3899516375589, + 790.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1153.9880278489122, + 792.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1156.5861040602656, + 793.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1159.184180271619, + 795.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1161.7822564829723, + 796.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1164.3803326943257, + 798.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1166.978408905679, + 799.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1169.5764851170325, + 801.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1172.1745613283858, + 802.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1174.7726375397392, + 804.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1177.3707137510926, + 805.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1179.968789962446, + 807.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1182.5668661737993, + 808.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1185.1649423851527, + 810.1525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1187.763018596506, + 811.6525893678561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1190.3610948078594, + 813.1525893678561, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-33-33_327254586/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-33-33_327254586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf753fd71d209e84fce46751cb23b140355f4827 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-33-33_327254586/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1479.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1482.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1485.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1488.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1491.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1494.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1497.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1500.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1503.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1506.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1509.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1512.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1515.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1518.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1521.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1524.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1527.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1530.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1533.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1533.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1533.8101547485194, + 198.9443379342634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1535.3101547485194, + 196.34626172291007, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1536.8101547485194, + 193.74818551155676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1538.3101547485194, + 191.15010930020344, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1538.3101547485194, + 191.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1540.9082309598728, + 189.65010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1543.5063071712261, + 188.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1546.1043833825795, + 186.65010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1548.7024595939329, + 185.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1551.3005358052862, + 183.65010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1553.8986120166396, + 182.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1556.496688227993, + 180.65010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1559.0947644393464, + 179.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1561.6928406506997, + 177.65010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1564.290916862053, + 176.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1566.8889930734065, + 174.65010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1569.4870692847599, + 173.15010930020344, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1569.4870692847599, + 173.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1572.4870692847599, + 173.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1575.4870692847599, + 173.15010930020344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1578.4870692847599, + 173.15010930020344, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "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/high_average/2025-1-9_16-34-12_269455306/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-34-12_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ea72fee8be4fdeafe4ff5cc0c5f302cfca6bd5b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-34-12_269455306/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1461.6334587112146, + 913.232914451565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1460.1334587112146, + 910.6348382402116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1458.6334587112146, + 908.0367620288582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1457.1334587112146, + 905.4386858175048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1455.6334587112146, + 902.8406096061515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1454.1334587112146, + 900.2425333947981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1452.6334587112146, + 897.6444571834447, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1452.6334587112146, + 897.6444571834447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1452.6334587112146, + 894.6444571834447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1452.6334587112146, + 891.6444571834447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1452.6334587112146, + 888.6444571834447, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_16-37-46_1409959708/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-37-46_1409959708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb98e26db2e17e2f4617dc05b941e81a917dc7c0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-37-46_1409959708/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 889.8501213598105, + -155.53206888700277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 888.3501213598105, + -158.13014509835608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 886.8501213598105, + -160.7282213097094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 885.3501213598105, + -163.3262975210627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 883.8501213598105, + -165.92437373241603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 882.3501213598105, + -168.52244994376935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 880.8501213598105, + -171.12052615512266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 879.3501213598105, + -173.71860236647598, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 877.8501213598105, + -176.3166785778293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 876.3501213598105, + -178.9147547891826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 874.8501213598105, + -181.51283100053593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 873.3501213598105, + -184.11090721188924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 871.8501213598105, + -186.70898342324256, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 870.3501213598105, + -189.30705963459587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 868.8501213598105, + -191.9051358459492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 867.3501213598105, + -194.5032120573025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 865.8501213598105, + -197.10128826865582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 864.3501213598105, + -199.69936448000914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 862.8501213598105, + -202.29744069136245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 861.3501213598105, + -204.89551690271577, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 859.8501213598105, + -207.49359311406909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 858.3501213598105, + -210.0916693254224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 856.8501213598105, + -212.68974553677572, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 855.3501213598105, + -215.28782174812903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 853.8501213598105, + -217.88589795948235, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 852.3501213598105, + -220.48397417083567, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 850.8501213598105, + -223.08205038218898, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 849.3501213598105, + -225.6801265935423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 847.8501213598105, + -228.2782028048956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 846.3501213598105, + -230.87627901624893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 844.8501213598105, + -233.47435522760225, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 844.8501213598105, + -233.47435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 842.2520451484572, + -234.97435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 839.6539689371039, + -236.47435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 837.0558927257505, + -237.97435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 834.4578165143971, + -239.47435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 831.8597403030437, + -240.97435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 829.2616640916904, + -242.47435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 826.663587880337, + -243.97435522760225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 824.0655116689836, + -245.47435522760225, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-39-33_289700723/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-39-33_289700723/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d71a071d858dfd70e9a20ef5aaf3822ee00cb2d5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-39-33_289700723/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 846.343414400749, + 353.7705987355894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 847.843414400749, + 356.3686749469427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 849.343414400749, + 358.966751158296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 850.843414400749, + 361.5648273696493, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 852.343414400749, + 364.16290358100264, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 853.843414400749, + 366.76097979235595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 855.343414400749, + 369.35905600370927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 856.843414400749, + 371.9571322150626, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 856.843414400749, + 371.9571322150626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 859.4414906121024, + 373.4571322150626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 862.0395668234557, + 374.9571322150626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 864.6376430348091, + 376.4571322150626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 867.2357192461625, + 377.9571322150626, + 17.46431138117525 + ], + "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/high_average/2025-1-9_16-4-39_1653377373/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-4-39_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bbd26c633924ba36871dadb68300e2ee94a465f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-4-39_1653377373/pose.jsonl @@ -0,0 +1,717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 51.30989433659144, + 106.88650366754982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 54.30989433659144, + 106.88650366754982, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 54.30989433659144, + 106.88650366754982, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 54.30989433659144, + 106.88650366754982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 55.80989433659144, + 109.48457987890313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 57.30989433659144, + 112.08265609025645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 58.80989433659144, + 114.68073230160977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 60.30989433659144, + 117.27880851296308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 61.80989433659144, + 119.8768847243164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 63.30989433659144, + 122.47496093566971, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 64.80989433659144, + 125.07303714702303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 66.30989433659144, + 127.67111335837635, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 67.80989433659144, + 130.26918956972966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.30989433659144, + 132.86726578108298, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 70.80989433659144, + 135.4653419924363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 72.30989433659144, + 138.0634182037896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 73.80989433659144, + 140.66149441514293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 75.30989433659144, + 143.25957062649624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.80989433659144, + 145.85764683784956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 78.30989433659144, + 148.45572304920287, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 79.80989433659144, + 151.0537992605562, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 81.30989433659144, + 153.6518754719095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 82.80989433659144, + 156.24995168326282, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 84.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 84.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 84.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 87.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 93.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 96.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 99.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 102.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 108.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 111.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 114.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 117.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 120.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 123.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 126.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 129.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 132.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 135.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 138.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 141.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 144.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 147.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 150.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 153.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + 156.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + 159.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + 162.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + 165.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + 168.30989433659144, + 158.84802789461614, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-40-4_168002245/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-40-4_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0d0f7fdcffd0f50747bc40a9c4240982b54088a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-40-4_168002245/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 746.9949642826268, + 576.4578542264087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 748.4949642826268, + 573.8597780150553, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 749.9949642826268, + 571.261701803702, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 751.4949642826268, + 568.6636255923486, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 752.9949642826268, + 566.0655493809952, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 754.4949642826268, + 563.4674731696418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 755.9949642826268, + 560.8693969582885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 757.4949642826268, + 558.2713207469351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 758.9949642826268, + 555.6732445355817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 760.4949642826268, + 553.0751683242283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 761.9949642826268, + 550.477092112875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 763.4949642826268, + 547.8790159015216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 764.9949642826268, + 545.2809396901682, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 766.4949642826268, + 542.6828634788149, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 767.9949642826268, + 540.0847872674615, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 769.4949642826268, + 537.4867110561081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 770.9949642826268, + 534.8886348447547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 772.4949642826268, + 532.2905586334014, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 773.9949642826268, + 529.692482422048, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 775.4949642826268, + 527.0944062106946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 776.9949642826268, + 524.4963299993412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 778.4949642826268, + 521.8982537879879, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 779.9949642826268, + 519.3001775766345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 781.4949642826268, + 516.7021013652811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 782.9949642826268, + 514.1040251539278, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 782.9949642826268, + 514.1040251539278, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 785.5930404939802, + 512.6040251539278, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 788.1911167053336, + 511.10402515392775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 790.7891929166869, + 509.60402515392775, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_16-41-28_1231192379/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-41-28_1231192379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3aee2b7362eb7708447a50365c2a65082d375cb3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-41-28_1231192379/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1433.913511801473, + -94.26951712996282, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1435.413511801473, + -96.86759334131614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1436.913511801473, + -99.46566955266945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1438.413511801473, + -102.06374576402277, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1438.413511801473, + -102.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1441.0115880128265, + -103.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1443.6096642241798, + -105.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1446.2077404355332, + -106.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1448.8058166468866, + -108.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1451.40389285824, + -109.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1454.0019690695933, + -111.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1456.6000452809467, + -112.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1459.1981214923, + -114.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1461.7961977036534, + -115.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1464.3942739150068, + -117.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1466.9923501263602, + -118.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1469.5904263377136, + -120.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1472.188502549067, + -121.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1474.7865787604203, + -123.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1477.3846549717737, + -124.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1479.982731183127, + -126.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1482.5808073944804, + -127.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1485.1788836058338, + -129.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1487.7769598171872, + -130.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1490.3750360285405, + -132.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1492.973112239894, + -133.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1495.5711884512473, + -135.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1498.1692646626007, + -136.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1500.767340873954, + -138.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1503.3654170853074, + -139.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1505.9634932966608, + -141.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1508.5615695080141, + -142.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1511.1596457193675, + -144.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1513.757721930721, + -145.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1516.3557981420743, + -147.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1518.9538743534276, + -148.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1521.551950564781, + -150.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1524.1500267761344, + -151.56374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1526.7481029874878, + -153.06374576402277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1529.3461791988411, + -154.56374576402277, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-45-32_1982275856/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-45-32_1982275856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a55efedce72cae234274313776924de709b0c30a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-45-32_1982275856/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1236.68048992451, + 682.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1236.68048992451, + 685.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1236.68048992451, + 688.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1236.68048992451, + 691.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1236.68048992451, + 694.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1236.68048992451, + 697.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1236.68048992451, + 700.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1236.68048992451, + 703.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1236.68048992451, + 706.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1236.68048992451, + 709.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1236.68048992451, + 712.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1236.68048992451, + 715.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1236.68048992451, + 718.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1236.68048992451, + 721.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1236.68048992451, + 724.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1236.68048992451, + 727.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1236.68048992451, + 730.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1236.68048992451, + 733.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1236.68048992451, + 736.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1236.68048992451, + 739.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1236.68048992451, + 742.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1236.68048992451, + 745.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1236.68048992451, + 748.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1236.68048992451, + 751.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1236.68048992451, + 754.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1236.68048992451, + 757.7457930251826, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1236.68048992451, + 757.7457930251826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1235.18048992451, + 760.343869236536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1233.68048992451, + 762.9419454478893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1232.18048992451, + 765.5400216592427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1230.68048992451, + 768.1380978705961, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1229.18048992451, + 770.7361740819495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1227.68048992451, + 773.3342502933028, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1226.18048992451, + 775.9323265046562, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1224.68048992451, + 778.5304027160096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1223.18048992451, + 781.128478927363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1221.68048992451, + 783.7265551387163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1220.18048992451, + 786.3246313500697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1218.68048992451, + 788.9227075614231, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1217.18048992451, + 791.5207837727764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1215.68048992451, + 794.1188599841298, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-46-10_387346491/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-46-10_387346491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf0a52eeb311a2704acd280aadbfc26584b70afb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-46-10_387346491/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1873.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1876.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1879.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1882.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1885.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1888.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1891.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1894.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1897.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1900.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1903.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1906.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1909.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1912.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1915.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1918.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1921.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1924.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1927.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1930.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1933.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1936.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1939.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1942.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1945.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1948.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1951.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1954.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1957.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1960.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1963.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1966.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1969.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1969.2162252641124, + 19.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1971.8143014754658, + 20.75635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1974.4123776868191, + 22.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1977.0104538981725, + 23.75635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1979.6085301095259, + 25.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1982.2066063208792, + 26.75635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1984.8046825322326, + 28.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1987.402758743586, + 29.75635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1990.0008349549394, + 31.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1992.5989111662927, + 32.75635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982884 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1995.196987377646, + 34.25635179757675, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1997.7950635889995, + 35.75635179757675, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_16-53-25_1875335928/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-53-25_1875335928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60cb8294cfc24a5a743b2f69d0473ec341fa1418 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-53-25_1875335928/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1892.4347377976012, + -199.82689162147614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1893.9347377976012, + -197.22881541012282, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1895.4347377976012, + -194.6307391987695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1896.9347377976012, + -192.0326629874162, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1898.4347377976012, + -189.43458677606287, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1899.9347377976012, + -186.83651056470956, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1901.4347377976012, + -184.23843435335624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1902.9347377976012, + -181.64035814200292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1904.4347377976012, + -179.0422819306496, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1905.9347377976012, + -176.4442057192963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1907.4347377976012, + -173.84612950794298, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1908.9347377976012, + -171.24805329658966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1910.4347377976012, + -168.64997708523634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1911.9347377976012, + -166.05190087388303, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1913.4347377976012, + -163.4538246625297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1914.9347377976012, + -160.8557484511764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1916.4347377976012, + -158.25767223982308, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1917.9347377976012, + -155.65959602846976, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1919.4347377976012, + -153.06151981711645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1920.9347377976012, + -150.46344360576313, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1920.9347377976012, + -150.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1920.9347377976012, + -147.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1920.9347377976012, + -144.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1920.9347377976012, + -141.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1920.9347377976012, + -138.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1920.9347377976012, + -135.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1920.9347377976012, + -132.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1920.9347377976012, + -129.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1920.9347377976012, + -126.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1920.9347377976012, + -123.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1920.9347377976012, + -120.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1920.9347377976012, + -117.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1920.9347377976012, + -114.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1920.9347377976012, + -111.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1920.9347377976012, + -108.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1920.9347377976012, + -105.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1920.9347377976012, + -102.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1920.9347377976012, + -99.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1920.9347377976012, + -96.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1920.9347377976012, + -93.46344360576313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1920.9347377976012, + -90.46344360576313, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-59-48_496987743/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-59-48_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5dbaf10a7a4b4ee368b47e95f49b29c77ed40cf1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_16-59-48_496987743/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1874.2653167505985, + 334.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1871.667240539245, + 335.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1869.0691643278917, + 337.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1866.4710881165383, + 338.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1863.873011905185, + 340.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1861.2749356938316, + 341.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1858.6768594824782, + 343.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1856.0787832711248, + 344.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1853.4807070597715, + 346.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1850.882630848418, + 347.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1848.2845546370647, + 349.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1845.6864784257114, + 350.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1843.088402214358, + 352.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1840.4903260030046, + 353.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1837.8922497916512, + 355.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1835.2941735802979, + 356.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1832.6960973689445, + 358.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1830.0980211575911, + 359.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1827.4999449462377, + 361.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1824.9018687348844, + 362.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1822.303792523531, + 364.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1819.7057163121776, + 365.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1817.1076401008243, + 367.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1814.5095638894709, + 368.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1811.9114876781175, + 370.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1809.3134114667641, + 371.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1806.7153352554108, + 373.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1804.1172590440574, + 374.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1801.519182832704, + 376.4209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1798.9211066213506, + 377.9209361207025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1796.3230304099973, + 379.4209361207025, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-0-47_480298490/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-0-47_480298490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac81ba2c7aacf4aaf200403def0d5c3720f2d7c1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-0-47_480298490/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1556.975618129273, + 602.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1554.3775419179196, + 603.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1551.7794657065663, + 605.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1549.181389495213, + 606.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1546.5833132838595, + 608.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1543.9852370725062, + 609.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1541.3871608611528, + 611.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1538.7890846497994, + 612.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1536.191008438446, + 614.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1533.5929322270927, + 615.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1530.9948560157393, + 617.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1528.396779804386, + 618.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1525.7987035930325, + 620.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1523.2006273816792, + 621.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1520.6025511703258, + 623.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1518.0044749589724, + 624.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1515.406398747619, + 626.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1512.8083225362657, + 627.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1510.2102463249123, + 629.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1507.612170113559, + 630.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1505.0140939022056, + 632.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1502.4160176908522, + 633.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1499.8179414794988, + 635.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1497.2198652681454, + 636.5317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1494.621789056792, + 638.0317340561113, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1494.621789056792, + 638.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1491.621789056792, + 638.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1488.621789056792, + 638.0317340561113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1485.621789056792, + 638.0317340561113, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1428.0, + 664.0, + 215.281 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-1-16_1096689772/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-1-16_1096689772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..336cd6cf8118febcb43416f4ebef138be7cc4dd5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-1-16_1096689772/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1029.9727455572788, + 585.2641396528564, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1031.4727455572788, + 587.8622158642097, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1032.9727455572788, + 590.4602920755631, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1034.4727455572788, + 593.0583682869164, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1035.9727455572788, + 595.6564444982698, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1037.4727455572788, + 598.2545207096232, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1038.9727455572788, + 600.8525969209766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1040.4727455572788, + 603.4506731323299, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1041.9727455572788, + 606.0487493436833, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1043.4727455572788, + 608.6468255550367, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1044.9727455572788, + 611.2449017663901, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1046.4727455572788, + 613.8429779777434, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1047.9727455572788, + 616.4410541890968, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1049.4727455572788, + 619.0391304004502, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1050.9727455572788, + 621.6372066118035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1052.4727455572788, + 624.2352828231569, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1053.9727455572788, + 626.8333590345103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1055.4727455572788, + 629.4314352458637, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1056.9727455572788, + 632.029511457217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1058.4727455572788, + 634.6275876685704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1059.9727455572788, + 637.2256638799238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1061.4727455572788, + 639.8237400912772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1062.9727455572788, + 642.4218163026305, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1064.4727455572788, + 645.0198925139839, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1065.9727455572788, + 647.6179687253373, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1067.4727455572788, + 650.2160449366907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1068.9727455572788, + 652.814121148044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1070.4727455572788, + 655.4121973593974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1071.9727455572788, + 658.0102735707508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1073.4727455572788, + 660.6083497821041, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1074.9727455572788, + 663.2064259934575, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1074.9727455572788, + 663.2064259934575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1074.9727455572788, + 666.2064259934575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1074.9727455572788, + 669.2064259934575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1074.9727455572788, + 672.2064259934575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1074.9727455572788, + 675.2064259934575, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-1-58_601385644/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-1-58_601385644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a88f897449f275bcb845c7790c5172f368af9a26 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-1-58_601385644/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 65.02298338102156, + 430.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 62.424907169668245, + 429.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 59.82683095831493, + 427.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 57.22875474696161, + 426.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 54.6306785356083, + 424.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 52.03260232425498, + 423.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 49.434526112901665, + 421.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.83644990154835, + 420.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 44.23837369019503, + 418.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 41.64029747884172, + 417.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 39.0422212674884, + 415.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 36.444145056135085, + 414.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 33.84606884478177, + 412.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 31.247992633428453, + 411.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.649916422075137, + 409.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 26.05184021072182, + 408.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 23.453763999368505, + 406.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.85568778801519, + 405.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.257611576661873, + 403.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 15.659535365308557, + 402.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 13.06145915395524, + 400.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 10.463382942601925, + 399.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 7.865306731248609, + 397.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.267230519895293, + 396.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2.6691543085419767, + 394.6268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 0.07107809718866065, + 393.1268972270225, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 0.07107809718866065, + 393.1268972270225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1.4289219028113387, + 390.52882101566917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -2.928921902811338, + 387.93074480431585, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-14-6_552473416/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-14-6_552473416/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..986cabbc8ab8636d09ec132782df362df2b1f4a1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-14-6_552473416/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1911.814107987411, + 691.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1911.814107987411, + 694.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1911.814107987411, + 697.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1911.814107987411, + 700.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1911.814107987411, + 703.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1911.814107987411, + 706.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1911.814107987411, + 709.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1911.814107987411, + 712.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1911.814107987411, + 715.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1911.814107987411, + 718.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1911.814107987411, + 721.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1911.814107987411, + 724.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1911.814107987411, + 727.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1911.814107987411, + 730.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1911.814107987411, + 733.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1911.814107987411, + 736.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1911.814107987411, + 739.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1911.814107987411, + 742.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1911.814107987411, + 745.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1911.814107987411, + 748.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1911.814107987411, + 751.812354869323, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1911.814107987411, + 751.812354869323, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1911.814107987411, + 751.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1914.4121841987644, + 753.312354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1917.0102604101178, + 754.812354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1919.6083366214712, + 756.312354869323, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1919.6083366214712, + 756.312354869323, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1921.1083366214712, + 758.9104310806763, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1922.6083366214712, + 761.5085072920297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1924.1083366214712, + 764.106583503383, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1925.6083366214712, + 766.7046597147364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1927.1083366214712, + 769.3027359260898, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-18-21_619290071/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-18-21_619290071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..911111f73bc57d40f88e3ce8dac62a083483db61 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-18-21_619290071/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1885.7170640420454, + 240.3737476644962, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1887.2170640420454, + 242.9718238758495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1888.7170640420454, + 245.56990008720283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1890.2170640420454, + 248.16797629855614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1891.7170640420454, + 250.76605250990946, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1893.2170640420454, + 253.36412872126277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1894.7170640420454, + 255.9622049326161, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1896.2170640420454, + 258.5602811439694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1897.7170640420454, + 261.1583573553227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1899.2170640420454, + 263.75643356667604, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1900.7170640420454, + 266.35450977802935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1902.2170640420454, + 268.95258598938267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1903.7170640420454, + 271.550662200736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1905.2170640420454, + 274.1487384120893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1906.7170640420454, + 276.7468146234426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1908.2170640420454, + 279.34489083479593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1909.7170640420454, + 281.94296704614925, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1911.2170640420454, + 284.54104325750257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1912.7170640420454, + 287.1391194688559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1914.2170640420454, + 289.7371956802092, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1914.2170640420454, + 289.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1914.2170640420454, + 292.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1914.2170640420454, + 295.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1914.2170640420454, + 298.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1914.2170640420454, + 301.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1914.2170640420454, + 304.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1914.2170640420454, + 307.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1914.2170640420454, + 310.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1914.2170640420454, + 313.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1914.2170640420454, + 316.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1914.2170640420454, + 319.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1914.2170640420454, + 322.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1914.2170640420454, + 325.7371956802092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1914.2170640420454, + 328.7371956802092, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-25-39_1943327684/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-25-39_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12d0b2332fc50fe9bb430b9382d25ec1b675d14b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-25-39_1943327684/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 269.15826446294545, + 271.82248553043553, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 267.65826446294545, + 269.2244093190822, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 266.15826446294545, + 266.6263331077289, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 264.65826446294545, + 264.0282568963756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 263.15826446294545, + 261.43018068502226, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 261.65826446294545, + 258.83210447366895, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.15826446294545, + 256.23402826231563, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 258.65826446294545, + 253.63595205096232, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 257.15826446294545, + 251.037875839609, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 255.65826446294545, + 248.43979962825568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 254.15826446294545, + 245.84172341690237, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 252.65826446294545, + 243.24364720554905, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 251.15826446294545, + 240.64557099419574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 249.65826446294545, + 238.04749478284242, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 248.15826446294545, + 235.4494185714891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 246.65826446294545, + 232.8513423601358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 245.15826446294545, + 230.25326614878247, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 243.65826446294545, + 227.65518993742916, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.15826446294545, + 225.05711372607584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 240.65826446294545, + 222.45903751472252, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 239.15826446294545, + 219.8609613033692, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 237.65826446294545, + 217.2628850920159, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 236.15826446294545, + 214.66480888066258, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 234.65826446294545, + 212.06673266930926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 233.15826446294545, + 209.46865645795594, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 233.15826446294545, + 209.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 233.15826446294545, + 206.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 233.15826446294545, + 203.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 233.15826446294545, + 200.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 233.15826446294545, + 197.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 233.15826446294545, + 194.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 233.15826446294545, + 191.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 233.15826446294545, + 188.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 233.15826446294545, + 185.46865645795594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 233.15826446294545, + 182.46865645795594, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_17-29-57_1562402336/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-29-57_1562402336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c7f4e01bb23f6558a00646fe4ee5c4be27ba8e3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-29-57_1562402336/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1574.270429109321, + 358.1822066139924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1571.270429109321, + 358.1822066139924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1568.270429109321, + 358.1822066139924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1565.270429109321, + 358.1822066139924, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1565.270429109321, + 358.1822066139924, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1565.270429109321, + 358.1822066139924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1563.770429109321, + 355.58413040263906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1562.270429109321, + 352.98605419128575, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-36-41_555996658/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-36-41_555996658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7544480859f2a54eb8d0dd313dfd6635ecd0bd73 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-36-41_555996658/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 657.5136240310342, + -169.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 654.9155478196808, + -171.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 652.3174716083274, + -172.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 649.719395396974, + -174.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 647.1213191856207, + -175.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 644.5232429742673, + -177.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 641.9251667629139, + -178.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 639.3270905515606, + -180.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 636.7290143402072, + -181.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 634.1309381288538, + -183.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 631.5328619175004, + -184.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 628.9347857061471, + -186.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 626.3367094947937, + -187.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 623.7386332834403, + -189.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 621.140557072087, + -190.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 618.5424808607336, + -192.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 615.9444046493802, + -193.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 613.3463284380268, + -195.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 610.7482522266735, + -196.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 608.1501760153201, + -198.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 605.5520998039667, + -199.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 602.9540235926133, + -201.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 600.35594738126, + -202.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 597.7578711699066, + -204.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 595.1597949585532, + -205.58110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 592.5617187471998, + -207.08110554153825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 589.9636425358465, + -208.58110554153825, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "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/high_average/2025-1-9_17-38-19_780821396/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-38-19_780821396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bef20b3adc6ea4917b81a58bd4358708c48a4bcb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-38-19_780821396/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1121.6929583181952, + -403.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1121.6929583181952, + -400.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1121.6929583181952, + -397.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1121.6929583181952, + -394.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1121.6929583181952, + -391.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1121.6929583181952, + -388.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1121.6929583181952, + -385.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1121.6929583181952, + -382.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1121.6929583181952, + -379.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1121.6929583181952, + -376.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1121.6929583181952, + -373.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1121.6929583181952, + -370.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1121.6929583181952, + -367.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1121.6929583181952, + -364.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1121.6929583181952, + -361.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1121.6929583181952, + -358.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1121.6929583181952, + -355.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1121.6929583181952, + -352.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1121.6929583181952, + -349.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1121.6929583181952, + -346.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1121.6929583181952, + -343.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1121.6929583181952, + -340.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1121.6929583181952, + -337.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1121.6929583181952, + -334.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1121.6929583181952, + -331.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1121.6929583181952, + -328.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1121.6929583181952, + -325.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1121.6929583181952, + -322.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1121.6929583181952, + -319.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1121.6929583181952, + -316.86252725334293, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1121.6929583181952, + -316.86252725334293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1123.1929583181952, + -314.2644510419896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1124.6929583181952, + -311.6663748306363, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1126.1929583181952, + -309.068298619283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1127.6929583181952, + -306.47022240792967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1129.1929583181952, + -303.87214619657635, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1130.6929583181952, + -301.27406998522304, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1132.1929583181952, + -298.6759937738697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1133.6929583181952, + -296.0779175625164, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1136.0, + -272.0, + 9.35903 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-42-29_1343606042/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-42-29_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d980d93abe4633efa2bc789c052d005c16176d6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-42-29_1343606042/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1236.7943140581428, + 707.9514018736076, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1235.2943140581428, + 710.5494780849608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1233.7943140581428, + 713.1475542963142, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1232.2943140581428, + 715.7456305076676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1230.7943140581428, + 718.3437067190209, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1229.2943140581428, + 720.9417829303743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1227.7943140581428, + 723.5398591417277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1226.2943140581428, + 726.137935353081, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1224.7943140581428, + 728.7360115644344, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1223.2943140581428, + 731.3340877757878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1221.7943140581428, + 733.9321639871412, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1220.2943140581428, + 736.5302401984945, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1218.7943140581428, + 739.1283164098479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1217.2943140581428, + 741.7263926212013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1215.7943140581428, + 744.3244688325547, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1215.7943140581428, + 744.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1215.7943140581428, + 747.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1215.7943140581428, + 750.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1215.7943140581428, + 753.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1215.7943140581428, + 756.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1215.7943140581428, + 759.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1215.7943140581428, + 762.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1215.7943140581428, + 765.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1215.7943140581428, + 768.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1215.7943140581428, + 771.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1215.7943140581428, + 774.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1215.7943140581428, + 777.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1215.7943140581428, + 780.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1215.7943140581428, + 783.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1215.7943140581428, + 786.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1215.7943140581428, + 789.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1215.7943140581428, + 792.3244688325547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1215.7943140581428, + 795.3244688325547, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-42-47_1111783898/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-42-47_1111783898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcdcdee05da8fa214a8c5954858447cc36bb0cd6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-42-47_1111783898/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 866.6386739094346, + 104.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 864.0405976980812, + 103.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 861.4425214867279, + 101.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 858.8444452753745, + 100.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 856.2463690640211, + 98.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 853.6482928526677, + 97.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 851.0502166413144, + 95.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 848.452140429961, + 94.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 845.8540642186076, + 92.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 843.2559880072542, + 91.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 840.6579117959009, + 89.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 838.0598355845475, + 88.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 835.4617593731941, + 86.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 832.8636831618408, + 85.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 830.2656069504874, + 83.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 827.667530739134, + 82.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 825.0694545277806, + 80.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 822.4713783164273, + 79.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 819.8733021050739, + 77.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 817.2752258937205, + 76.42226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 814.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 814.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 811.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 808.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 805.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 802.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 799.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 796.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 793.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 790.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 787.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 784.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 781.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 778.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 775.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 772.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 769.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 766.6771496823671, + 74.92226204676646, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "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/high_average/2025-1-9_17-47-37_11614769/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-47-37_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8faa0001bd224ef32277b491a84eec6747b37c87 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-47-37_11614769/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1008.4485243982912, + 92.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1011.4485243982912, + 92.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1014.4485243982912, + 92.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1017.4485243982912, + 92.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1020.4485243982912, + 92.56535594982441, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1020.4485243982912, + 92.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1023.0466006096444, + 94.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1025.6446768209978, + 95.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1028.2427530323512, + 97.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1030.8408292437045, + 98.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1033.438905455058, + 100.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1036.0369816664113, + 101.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1038.6350578777647, + 103.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1041.233134089118, + 104.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1043.8312103004714, + 106.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1046.4292865118248, + 107.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1049.0273627231782, + 109.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1051.6254389345315, + 110.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1054.223515145885, + 112.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1056.8215913572383, + 113.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1059.4196675685916, + 115.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1062.017743779945, + 116.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1064.6158199912984, + 118.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1067.2138962026518, + 119.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1069.8119724140051, + 121.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1072.4100486253585, + 122.56535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1075.0081248367119, + 124.06535594982441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1077.6062010480653, + 125.56535594982441, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_17-54-32_982936784/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-54-32_982936784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d47118a7790f25f9a049a26f320aad57aecf51fb --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-54-32_982936784/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1826.8010682926033, + 263.6595787073274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1828.3010682926033, + 261.0615024959741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1829.8010682926033, + 258.46342628462077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1831.3010682926033, + 255.86535007326745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1832.8010682926033, + 253.26727386191413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1834.3010682926033, + 250.66919765056082, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1835.8010682926033, + 248.0711214392075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1837.3010682926033, + 245.4730452278542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1838.8010682926033, + 242.87496901650087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1840.3010682926033, + 240.27689280514755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1841.8010682926033, + 237.67881659379424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1843.3010682926033, + 235.08074038244092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1844.8010682926033, + 232.4826641710876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1846.3010682926033, + 229.8845879597343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1847.8010682926033, + 227.28651174838097, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1849.3010682926033, + 224.68843553702766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1850.8010682926033, + 222.09035932567434, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1852.3010682926033, + 219.49228311432103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1853.8010682926033, + 216.8942069029677, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1855.3010682926033, + 214.2961306916144, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1855.3010682926033, + 214.2961306916144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1855.3010682926033, + 211.2961306916144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1855.3010682926033, + 208.2961306916144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1855.3010682926033, + 205.2961306916144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1855.3010682926033, + 202.2961306916144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1855.3010682926033, + 199.2961306916144, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1855.3010682926033, + 196.2961306916144, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_17-54-47_1676902021/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-54-47_1676902021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15d4d40d7c415271ced913de42162dac26309262 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-54-47_1676902021/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 297.8567749522757, + 90.71263699049626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 296.3567749522757, + 93.31071320184958, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 294.8567749522757, + 95.9087894132029, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.3567749522757, + 98.50686562455621, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 291.8567749522757, + 101.10494183590953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 290.3567749522757, + 103.70301804726284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 288.8567749522757, + 106.30109425861616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 287.3567749522757, + 108.89917046996948, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 285.8567749522757, + 111.49724668132279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 284.3567749522757, + 114.09532289267611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 282.8567749522757, + 116.69339910402942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 281.3567749522757, + 119.29147531538274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 279.8567749522757, + 121.88955152673606, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 279.8567749522757, + 121.88955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 277.2586987409224, + 123.38955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 274.6606225295691, + 124.88955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 272.06254631821577, + 126.38955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 269.46447010686245, + 127.88955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 266.86639389550913, + 129.38955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 264.2683176841558, + 130.88955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 261.6702414728025, + 132.38955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 259.0721652614492, + 133.88955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 256.47408905009587, + 135.38955152673606, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 253.87601283874255, + 136.88955152673606, + 17.46431138117525 + ], + "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/high_average/2025-1-9_17-56-17_1242608872/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-56-17_1242608872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f166ed4cd89ca80cf2578ebb476842e10acfccd7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-56-17_1242608872/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.22705826153623, + 42.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.62898205018291, + 40.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.0309058388296, + 39.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.43282962747628, + 37.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 109.83475341612296, + 36.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.23667720476965, + 34.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 104.63860099341633, + 33.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 102.04052478206302, + 31.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.4424485707097, + 30.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 96.84437235935638, + 28.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.24629614800307, + 27.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.64821993664975, + 25.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.05014372529644, + 24.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.45206751394312, + 22.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 83.8539913025898, + 21.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 81.25591509123649, + 19.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 78.65783887988317, + 18.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.05976266852986, + 16.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 73.46168645717654, + 15.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.86361024582322, + 13.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 68.26553403446991, + 12.379774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 65.66745782311659, + 10.879774737894365, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.66745782311659, + 10.879774737894365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.16745782311659, + 8.28169852654105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.66745782311659, + 5.683622315187733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 61.16745782311659, + 3.0855461038344174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 59.66745782311659, + 0.4874698924811014, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.16745782311659, + -2.1106063188722146, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.66745782311659, + -4.708682530225531, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 55.16745782311659, + -7.306758741578847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 53.66745782311659, + -9.904834952932163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 52.16745782311659, + -12.502911164285479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 50.66745782311659, + -15.100987375638795, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 50.66745782311659, + -15.100987375638795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 48.069381611763276, + -16.600987375638795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 45.47130540040996, + -18.100987375638795, + 17.46431138117525 + ], + "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/high_average/2025-1-9_17-58-3_1023457753/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-58-3_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a5067e5df2cf518c37a0335be647e42b89e4c0e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-58-3_1023457753/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 639.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 642.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 645.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 648.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 651.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 654.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 657.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 660.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 663.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 666.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 669.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 672.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 675.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 678.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 681.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 684.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 687.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 690.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 693.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 696.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 699.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 702.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 705.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 708.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 711.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 714.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 717.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 720.688242803405, + 70.67072274916633, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "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/high_average/2025-1-9_17-59-10_1329132133/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-59-10_1329132133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4bc11f59c2cfc77834351a24198a9df1d49e2f9e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_17-59-10_1329132133/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1189.2428988996026, + 350.2611023874922, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1190.7428988996026, + 352.8591785988455, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1192.2428988996026, + 355.45725481019883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1193.7428988996026, + 358.05533102155215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1195.2428988996026, + 360.65340723290547, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1196.7428988996026, + 363.2514834442588, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1198.2428988996026, + 365.8495596556121, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1199.7428988996026, + 368.4476358669654, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1201.2428988996026, + 371.04571207831873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1202.7428988996026, + 373.64378828967205, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1204.2428988996026, + 376.24186450102536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1205.7428988996026, + 378.8399407123787, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1207.2428988996026, + 381.438016923732, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1208.7428988996026, + 384.0360931350853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1210.2428988996026, + 386.6341693464386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1211.7428988996026, + 389.23224555779194, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1211.7428988996026, + 389.23224555779194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1211.7428988996026, + 392.23224555779194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1211.7428988996026, + 395.23224555779194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1211.7428988996026, + 398.23224555779194, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-0-10_150517567/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-0-10_150517567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f53450b2c9042be5893e1caa6901d49d88ca406 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-0-10_150517567/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 537.4258652508329, + -236.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 537.4258652508329, + -233.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 537.4258652508329, + -230.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 537.4258652508329, + -227.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 537.4258652508329, + -224.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 537.4258652508329, + -221.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 537.4258652508329, + -218.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 537.4258652508329, + -215.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 537.4258652508329, + -212.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 537.4258652508329, + -209.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 537.4258652508329, + -206.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 537.4258652508329, + -203.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 537.4258652508329, + -200.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 537.4258652508329, + -197.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 537.4258652508329, + -194.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 537.4258652508329, + -191.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 537.4258652508329, + -188.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 537.4258652508329, + -185.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 537.4258652508329, + -182.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 537.4258652508329, + -179.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 537.4258652508329, + -176.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 537.4258652508329, + -173.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 537.4258652508329, + -170.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 537.4258652508329, + -167.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 537.4258652508329, + -164.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 537.4258652508329, + -161.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 537.4258652508329, + -158.78011257207913, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 537.4258652508329, + -158.78011257207913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 538.9258652508329, + -156.18203636072582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 540.4258652508329, + -153.5839601493725, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 541.9258652508329, + -150.98588393801919, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 543.4258652508329, + -148.38780772666587, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 544.9258652508329, + -145.78973151531255, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "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/high_average/2025-1-9_18-20-37_2416949/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-37_2416949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b2c27ceaf4e7238546ffca571e942787d97754b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-37_2416949/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 41.966731305229686, + 96.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 41.966731305229686, + 93.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 41.966731305229686, + 90.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 41.966731305229686, + 87.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 41.966731305229686, + 84.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 41.966731305229686, + 81.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 41.966731305229686, + 78.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 41.966731305229686, + 75.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 41.966731305229686, + 72.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 41.966731305229686, + 69.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 41.966731305229686, + 66.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.966731305229686, + 63.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 41.966731305229686, + 60.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 41.966731305229686, + 57.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 41.966731305229686, + 54.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 41.966731305229686, + 51.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 41.966731305229686, + 48.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 41.966731305229686, + 45.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 41.966731305229686, + 42.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 41.966731305229686, + 39.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 41.966731305229686, + 36.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 41.966731305229686, + 33.47064563864873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 41.966731305229686, + 30.470645638648733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 41.966731305229686, + 27.470645638648733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 41.966731305229686, + 24.470645638648733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 41.966731305229686, + 21.470645638648733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 41.966731305229686, + 18.470645638648733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 41.966731305229686, + 15.470645638648733, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 41.966731305229686, + 15.470645638648733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 40.466731305229686, + 12.872569427295417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 38.966731305229686, + 10.274493215942101, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 37.466731305229686, + 7.676417004588785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 35.966731305229686, + 5.078340793235469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 34.466731305229686, + 2.480264581882153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 32.966731305229686, + -0.11781162947116286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 31.466731305229686, + -2.715887840824479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 29.966731305229686, + -5.313964052177795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 28.466731305229686, + -7.912040263531111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 26.966731305229686, + -10.510116474884427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 25.466731305229686, + -13.108192686237743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 23.966731305229686, + -15.706268897591059, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_18-20-59_12260289/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-59_12260289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..557743946fe13e8dec2a8fa0b015232ab031eee9 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-20-59_12260289/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1544.6663616754636, + -138.2737554538873, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1543.1663616754636, + -135.675679242534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1541.6663616754636, + -133.07760303118067, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1540.1663616754636, + -130.47952681982736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1538.6663616754636, + -127.88145060847404, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1537.1663616754636, + -125.28337439712072, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1535.6663616754636, + -122.68529818576741, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1534.1663616754636, + -120.08722197441409, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1532.6663616754636, + -117.48914576306078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1531.1663616754636, + -114.89106955170746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1529.6663616754636, + -112.29299334035414, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1528.1663616754636, + -109.69491712900083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1526.6663616754636, + -107.09684091764751, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1525.1663616754636, + -104.4987647062942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1523.6663616754636, + -101.90068849494088, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1522.1663616754636, + -99.30261228358756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1520.6663616754636, + -96.70453607223425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1519.1663616754636, + -94.10645986088093, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1519.1663616754636, + -94.10645986088093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1516.5682854641102, + -92.60645986088093, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "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/high_average/2025-1-9_18-25-33_1450956042/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-25-33_1450956042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83a74b0eab78df72218b8a0ec7a67fb45f755e2d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-25-33_1450956042/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1579.0332040928902, + -98.52166189169719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1576.4351278815368, + -97.02166189169719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1573.8370516701834, + -95.52166189169719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1571.23897545883, + -94.02166189169719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1568.6408992474767, + -92.52166189169719, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "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/high_average/2025-1-9_18-25-57_410409117/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-25-57_410409117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fc19dca64f8d16a6728f4f0540e45e27671e5d7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-25-57_410409117/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1713.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1710.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1707.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1704.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1701.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1698.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1695.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1692.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1689.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1686.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1683.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1680.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1677.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1674.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1671.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1668.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1668.6564893641885, + 176.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1666.058413152835, + 174.84579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1663.4603369414817, + 173.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1660.8622607301284, + 171.84579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1658.264184518775, + 170.34579746145366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1655.6661083074216, + 168.84579746145366, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "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/high_average/2025-1-9_18-34-22_1265204346/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-22_1265204346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..106cd4803b2f3fb38fcafd94af31ffff37fad636 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-22_1265204346/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1010.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1013.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1016.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1019.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1022.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1025.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1028.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1028.0776570190064, + 102.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1030.6757332303598, + 103.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1033.2738094417132, + 105.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1035.8718856530666, + 106.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1038.46996186442, + 108.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1041.0680380757733, + 109.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1043.6661142871267, + 111.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1046.26419049848, + 112.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1048.8622667098334, + 114.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1051.4603429211868, + 115.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1054.0584191325402, + 117.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1056.6564953438935, + 118.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1059.254571555247, + 120.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1061.8526477666003, + 121.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1064.4507239779537, + 123.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1067.048800189307, + 124.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1069.6468764006604, + 126.37789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1072.2449526120138, + 127.87789867984584, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1074.8430288233671, + 129.37789867984583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982853 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1077.4411050347205, + 130.87789867984583, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982853 + } +} +{ + "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/high_average/2025-1-9_18-34-2_1877565100/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-2_1877565100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09c6940b660787c75b825158eb49eba34810c098 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-34-2_1877565100/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 46.707586581334134, + 399.07578351335655, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 48.207586581334134, + 396.47770730200324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 49.707586581334134, + 393.8796310906499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 51.207586581334134, + 391.2815548792966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 52.707586581334134, + 388.6834786679433, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 54.207586581334134, + 386.08540245659, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 55.707586581334134, + 383.48732624523666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 57.207586581334134, + 380.88925003388334, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.707586581334134, + 378.29117382253, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 60.207586581334134, + 375.6930976111767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 61.707586581334134, + 373.0950213998234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 63.207586581334134, + 370.4969451884701, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 64.70758658133414, + 367.89886897711676, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965956 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 66.20758658133414, + 365.30079276576345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.70758658133414, + 362.70271655441013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 69.20758658133414, + 360.1046403430568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 70.70758658133414, + 357.5065641317035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 72.20758658133414, + 354.9084879203502, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 73.70758658133414, + 352.31041170899687, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 75.20758658133414, + 349.71233549764355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 76.70758658133414, + 347.11425928629023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 78.20758658133414, + 344.5161830749369, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 78.20758658133414, + 344.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 78.20758658133414, + 341.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 78.20758658133414, + 338.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 78.20758658133414, + 335.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 78.20758658133414, + 332.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 78.20758658133414, + 329.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 78.20758658133414, + 326.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 78.20758658133414, + 323.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 78.20758658133414, + 320.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 78.20758658133414, + 317.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 78.20758658133414, + 314.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 78.20758658133414, + 311.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 78.20758658133414, + 308.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 78.20758658133414, + 305.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 78.20758658133414, + 302.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 78.20758658133414, + 299.5161830749369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 78.20758658133414, + 296.5161830749369, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_18-35-11_1665204916/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-11_1665204916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5710c967bab28589cf96f285641065952030f0b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-11_1665204916/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 82.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 79.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 76.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 73.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 70.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 64.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 61.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 52.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 49.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 46.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 43.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 40.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 37.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.99549853386746, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 31.995498533867462, + 315.1078500377013, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 31.995498533867462, + 315.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 29.397422322514146, + 316.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 26.79934611116083, + 318.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 24.201269899807514, + 319.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 21.603193688454198, + 321.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.00511747710088, + 322.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 16.407041265747566, + 324.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 13.80896505439425, + 325.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 11.210888843040934, + 327.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 8.612812631687618, + 328.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 6.014736420334302, + 330.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 3.4166602089809857, + 331.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 0.8185839976276696, + 333.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1.7794922137256464, + 334.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -4.377568425078962, + 336.1078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -6.975644636432278, + 337.6078500377013, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -9.573720847785594, + 339.1078500377013, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-49_564325578/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-49_564325578/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f370f86b0b26e7e9d51a25467c683bdad94dc3a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-35-49_564325578/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1428.9164892711203, + 918.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1428.9164892711203, + 915.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1428.9164892711203, + 912.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1428.9164892711203, + 909.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1428.9164892711203, + 906.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1428.9164892711203, + 903.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1428.9164892711203, + 900.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1428.9164892711203, + 897.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1428.9164892711203, + 894.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1428.9164892711203, + 891.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1428.9164892711203, + 888.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1428.9164892711203, + 885.9455076193719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1428.9164892711203, + 882.9455076193719, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_18-38-3_885799631/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-38-3_885799631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..988c56048d2bfa2cdd369a77133b517ed3e6bde2 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-38-3_885799631/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 671.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 668.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 665.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 662.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 659.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 656.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 653.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 650.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 647.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 644.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 641.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 638.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 635.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 632.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 629.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 626.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 623.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 620.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 620.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 620.2355391260838, + 134.35445602176804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 618.7355391260838, + 131.75637981041473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 617.2355391260838, + 129.1583035990614, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 617.2355391260838, + 129.1583035990614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 614.6374629147306, + 127.65830359906141, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "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/high_average/2025-1-9_18-46-36_959372260/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-46-36_959372260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c60e2759cc6119d0e6bf9bb03eef81567bcb880f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-46-36_959372260/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 696.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 699.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 702.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 705.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 708.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 711.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 714.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 717.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 720.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 723.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 726.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 729.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 732.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 735.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 738.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 741.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 744.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 747.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 747.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 747.877144782912, + 504.8020990441657, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 749.377144782912, + 502.20402283281237, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 750.877144782912, + 499.60594662145905, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 752.377144782912, + 497.00787041010574, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 752.377144782912, + 497.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 754.9752209942653, + 495.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 757.5732972056187, + 494.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 760.1713734169721, + 492.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 762.7694496283254, + 491.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 765.3675258396788, + 489.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 767.9656020510322, + 488.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 770.5636782623856, + 486.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 773.1617544737389, + 485.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 775.7598306850923, + 483.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 778.3579068964457, + 482.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 780.955983107799, + 480.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 783.5540593191524, + 479.00787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 786.1521355305058, + 477.50787041010574, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 788.7502117418592, + 476.00787041010574, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_18-53-30_470591100/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-53-30_470591100/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1603a40365264be949f6491646b9f5e6eb7c650f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-53-30_470591100/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 699.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 702.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 705.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 708.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 711.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 714.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 717.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 720.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 723.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 726.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 729.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 732.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 735.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 738.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 741.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 744.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 747.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 750.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 750.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 750.9809085392292, + -297.67392951335887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 752.4809085392292, + -295.07585330200556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 753.9809085392292, + -292.47777709065224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 755.4809085392292, + -289.8797008792989, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 755.4809085392292, + -289.8797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 758.0789847505825, + -288.3797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 760.6770609619359, + -286.8797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 763.2751371732893, + -285.3797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 765.8732133846427, + -283.8797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 768.471289595996, + -282.3797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 771.0693658073494, + -280.8797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 773.6674420187028, + -279.3797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 776.2655182300562, + -277.8797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 778.8635944414095, + -276.3797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 781.4616706527629, + -274.8797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 784.0597468641163, + -273.3797008792989, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 784.0597468641163, + -273.3797008792989, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 787.0597468641163, + -273.3797008792989, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-54-49_2077211388/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-54-49_2077211388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a36fc37f1746d4347bb9fa19e12279f16df36ef --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-54-49_2077211388/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1968.9649443667918, + -163.4742431966009, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1967.4649443667918, + -160.87616698524758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1965.9649443667918, + -158.27809077389426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1964.4649443667918, + -155.68001456254095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1962.9649443667918, + -153.08193835118763, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1961.4649443667918, + -150.48386213983432, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1959.9649443667918, + -147.885785928481, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1958.4649443667918, + -145.28770971712768, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1956.9649443667918, + -142.68963350577437, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1955.4649443667918, + -140.09155729442105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1953.9649443667918, + -137.49348108306773, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1952.4649443667918, + -134.89540487171442, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1950.9649443667918, + -132.2973286603611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1949.4649443667918, + -129.6992524490078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1947.9649443667918, + -127.10117623765447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1946.4649443667918, + -124.50310002630115, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1944.9649443667918, + -121.90502381494784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1943.4649443667918, + -119.30694760359452, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1943.4649443667918, + -119.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1943.4649443667918, + -116.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1943.4649443667918, + -113.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1943.4649443667918, + -110.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1943.4649443667918, + -107.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1943.4649443667918, + -104.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1943.4649443667918, + -101.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1943.4649443667918, + -98.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1943.4649443667918, + -95.30694760359452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1943.4649443667918, + -92.30694760359452, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1932.0, + -56.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-6-9_425245975/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-6-9_425245975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5439ef058e7796d2b604ff5e231cb127b4ceff27 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_18-6-9_425245975/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1919.197723347136, + 563.4518381919955, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1920.697723347136, + 566.0499144033488, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1922.197723347136, + 568.6479906147022, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1923.697723347136, + 571.2460668260555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1925.197723347136, + 573.8441430374089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1926.697723347136, + 576.4422192487623, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1928.197723347136, + 579.0402954601157, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1929.697723347136, + 581.638371671469, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1931.197723347136, + 584.2364478828224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1932.697723347136, + 586.8345240941758, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1934.197723347136, + 589.4326003055291, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1935.697723347136, + 592.0306765168825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1937.197723347136, + 594.6287527282359, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1938.697723347136, + 597.2268289395893, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1940.197723347136, + 599.8249051509426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1941.697723347136, + 602.422981362296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1943.197723347136, + 605.0210575736494, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1944.697723347136, + 607.6191337850028, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1946.197723347136, + 610.2172099963561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1947.697723347136, + 612.8152862077095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1949.197723347136, + 615.4133624190629, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1950.697723347136, + 618.0114386304163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1952.197723347136, + 620.6095148417696, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1953.697723347136, + 623.207591053123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1955.197723347136, + 625.8056672644764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1956.697723347136, + 628.4037434758297, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-53_1985433483/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-53_1985433483/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65d48f858e3b4393fc1564f61f98f34617b35557 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-12-53_1985433483/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1510.5828926170464, + 935.5114582533091, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1509.0828926170464, + 932.9133820419559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1507.5828926170464, + 930.3153058306025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1506.0828926170464, + 927.7172296192491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1504.5828926170464, + 925.1191534078957, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1503.0828926170464, + 922.5210771965424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1501.5828926170464, + 919.923000985189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1500.0828926170464, + 917.3249247738356, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1498.5828926170464, + 914.7268485624822, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1497.0828926170464, + 912.1287723511289, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1495.5828926170464, + 909.5306961397755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1494.0828926170464, + 906.9326199284221, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1492.5828926170464, + 904.3345437170688, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1491.0828926170464, + 901.7364675057154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1489.5828926170464, + 899.138391294362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1488.0828926170464, + 896.5403150830086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1486.5828926170464, + 893.9422388716553, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1485.0828926170464, + 891.3441626603019, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1483.5828926170464, + 888.7460864489485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1482.0828926170464, + 886.1480102375951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1480.5828926170464, + 883.5499340262418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1479.0828926170464, + 880.9518578148884, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1477.5828926170464, + 878.353781603535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1476.0828926170464, + 875.7557053921817, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1474.5828926170464, + 873.1576291808283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1473.0828926170464, + 870.5595529694749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1471.5828926170464, + 867.9614767581215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1470.0828926170464, + 865.3634005467682, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "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/high_average/2025-1-9_19-13-10_395279207/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-10_395279207/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f57c3fce5ba9f6887aaa4d58fa581b86f6bf1eb8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-13-10_395279207/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 980.2699665336496, + 80.36301281749664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 978.7699665336496, + 77.76493660614332, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 977.2699665336496, + 75.16686039479, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 975.7699665336496, + 72.56878418343669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 974.2699665336496, + 69.97070797208337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 972.7699665336496, + 67.37263176073006, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 971.2699665336496, + 64.77455554937674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 969.7699665336496, + 62.17647933802343, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 968.2699665336496, + 59.57840312667011, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 966.7699665336496, + 56.980326915316795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 965.2699665336496, + 54.38225070396348, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 963.7699665336496, + 51.78417449261016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 962.2699665336496, + 49.18609828125685, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 960.7699665336496, + 46.58802206990353, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 959.2699665336496, + 43.989945858550215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 957.7699665336496, + 41.3918696471969, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 956.2699665336496, + 38.79379343584358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 954.7699665336496, + 36.19571722449027, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 953.2699665336496, + 33.59764101313695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 951.7699665336496, + 30.999564801783634, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 950.2699665336496, + 28.40148859043032, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 950.2699665336496, + 28.40148859043032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 950.2699665336496, + 25.40148859043032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 950.2699665336496, + 22.40148859043032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 950.2699665336496, + 19.40148859043032, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 950.2699665336496, + 16.40148859043032, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_19-19-28_524133589/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-19-28_524133589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..639992c880e333f3a72e20084363e8f0ce1a2688 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-19-28_524133589/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1588.4470632277319, + -293.54423098520215, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1586.9470632277319, + -290.94615477384883, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1585.4470632277319, + -288.3480785624955, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1583.9470632277319, + -285.7500023511422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1582.4470632277319, + -283.1519261397889, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1580.9470632277319, + -280.55384992843557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1579.4470632277319, + -277.95577371708225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1577.9470632277319, + -275.35769750572894, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1576.4470632277319, + -272.7596212943756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1574.9470632277319, + -270.1615450830223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1573.4470632277319, + -267.563468871669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1571.9470632277319, + -264.9653926603157, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1570.4470632277319, + -262.36731644896236, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1568.9470632277319, + -259.76924023760904, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1567.4470632277319, + -257.1711640262557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1565.9470632277319, + -254.5730878149024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1564.4470632277319, + -251.9750116035491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1562.9470632277319, + -249.37693539219578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1561.4470632277319, + -246.77885918084246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1559.9470632277319, + -244.18078296948914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1558.4470632277319, + -241.58270675813583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1556.9470632277319, + -238.9846305467825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1555.4470632277319, + -236.3865543354292, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1555.4470632277319, + -236.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1555.4470632277319, + -233.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1555.4470632277319, + -230.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1555.4470632277319, + -227.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1555.4470632277319, + -224.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1555.4470632277319, + -221.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1555.4470632277319, + -218.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1555.4470632277319, + -215.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1555.4470632277319, + -212.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1555.4470632277319, + -209.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1555.4470632277319, + -206.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1555.4470632277319, + -203.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1555.4470632277319, + -200.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1555.4470632277319, + -197.3865543354292, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1555.4470632277319, + -194.3865543354292, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-27-46_1738110294/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-27-46_1738110294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34542bdbb099f5005774c8b877dcbb7fa5741156 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-27-46_1738110294/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1062.9155025441253, + 13.018905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1060.317426332772, + 11.518905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1057.7193501214185, + 10.018905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1055.1212739100652, + 8.518905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1052.5231976987118, + 7.018905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1049.9251214873584, + 5.518905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1047.327045276005, + 4.018905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1044.7289690646517, + 2.518905922719263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1042.1308928532983, + 1.0189059227192632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1039.532816641945, + -0.4810940772807366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1036.9347404305915, + -1.9810940772807364, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1034.3366642192382, + -3.481094077280736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1031.7385880078848, + -4.981094077280736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1029.1405117965314, + -6.481094077280736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1026.542435585178, + -7.981094077280736, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1023.9443593738247, + -9.481094077280735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1021.3462831624713, + -10.981094077280735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1018.7482069511179, + -12.481094077280735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1016.1501307397646, + -13.981094077280735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1013.5520545284112, + -15.481094077280735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1010.9539783170578, + -16.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991504 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1008.3559021057044, + -18.481094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1005.7578258943511, + -19.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1003.1597496829977, + -21.481094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1000.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1000.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 997.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 994.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 991.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 988.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 985.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 982.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 979.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 976.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 973.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 970.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 967.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 964.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 961.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 958.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 955.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 952.5616734716443, + -22.981094077280734, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "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/high_average/2025-1-9_19-3-51_1210359231/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-3-51_1210359231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04ba6316761c4276205ce302238e1acaad449544 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-3-51_1210359231/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1888.2043231298587, + 491.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1888.2043231298587, + 488.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1888.2043231298587, + 485.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1888.2043231298587, + 482.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1888.2043231298587, + 479.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1888.2043231298587, + 476.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1888.2043231298587, + 473.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1888.2043231298587, + 470.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1888.2043231298587, + 467.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1888.2043231298587, + 464.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1888.2043231298587, + 461.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1888.2043231298587, + 458.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1888.2043231298587, + 455.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1888.2043231298587, + 452.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1888.2043231298587, + 449.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1888.2043231298587, + 446.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1888.2043231298587, + 443.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1888.2043231298587, + 440.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1888.2043231298587, + 437.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1888.2043231298587, + 434.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1888.2043231298587, + 431.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1888.2043231298587, + 428.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1888.2043231298587, + 425.94158647374206, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1888.2043231298587, + 425.94158647374206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1889.7043231298587, + 423.34351026238875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1891.2043231298587, + 420.74543405103543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1892.7043231298587, + 418.1473578396821, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1894.2043231298587, + 415.5492816283288, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1895.7043231298587, + 412.9512054169755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1897.2043231298587, + 410.35312920562217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1898.7043231298587, + 407.75505299426885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1900.2043231298587, + 405.15697678291554, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1901.7043231298587, + 402.5589005715622, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1903.2043231298587, + 399.9608243602089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1904.7043231298587, + 397.3627481488556, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1906.2043231298587, + 394.76467193750227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1907.7043231298587, + 392.16659572614896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1909.2043231298587, + 389.56851951479564, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1910.7043231298587, + 386.9704433034423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1912.2043231298587, + 384.372367092089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1913.7043231298587, + 381.7742908807357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1915.2043231298587, + 379.1762146693824, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1916.7043231298587, + 376.57813845802906, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-31-26_1986894018/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-31-26_1986894018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41fb70bcfa679daa6e9469cc8a303501986da593 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-31-26_1986894018/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1530.0893526014054, + -268.4441705636075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1530.0893526014054, + -265.4441705636075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1530.0893526014054, + -262.4441705636075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1530.0893526014054, + -259.4441705636075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1530.0893526014054, + -256.4441705636075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1530.0893526014054, + -253.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1530.0893526014054, + -250.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1530.0893526014054, + -247.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1530.0893526014054, + -244.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1530.0893526014054, + -241.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1530.0893526014054, + -238.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1530.0893526014054, + -235.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1530.0893526014054, + -232.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1530.0893526014054, + -229.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1530.0893526014054, + -226.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1530.0893526014054, + -223.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1530.0893526014054, + -220.44417056360749, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1530.0893526014054, + -220.44417056360749, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1531.5893526014054, + -217.84609435225417, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1533.0893526014054, + -215.24801814090085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1534.5893526014054, + -212.64994192954754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1536.0893526014054, + -210.05186571819422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1537.5893526014054, + -207.4537895068409, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1539.0893526014054, + -204.8557132954876, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1540.5893526014054, + -202.25763708413427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1542.0893526014054, + -199.65956087278096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1543.5893526014054, + -197.06148466142764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1545.0893526014054, + -194.46340845007433, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-37-27_1122336503/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-37-27_1122336503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97511d9b43532a13664c619d2c2a01559d1473b7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-37-27_1122336503/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -122.99934928718577, + 230.01291335458728, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -121.49934928718577, + 232.6109895659406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -119.99934928718577, + 235.20906577729392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -118.49934928718577, + 237.80714198864723, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -116.99934928718577, + 240.40521820000055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -115.49934928718577, + 243.00329441135386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -113.99934928718577, + 245.60137062270718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -112.49934928718577, + 248.1994468340605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -110.99934928718577, + 250.7975230454138, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -109.49934928718577, + 253.39559925676713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -107.99934928718577, + 255.99367546812044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -106.49934928718577, + 258.59175167947376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -104.99934928718577, + 261.1898278908271, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -103.49934928718577, + 263.7879041021804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -101.99934928718577, + 266.3859803135337, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -100.49934928718577, + 268.984056524887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -98.99934928718577, + 271.58213273624034, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -97.49934928718577, + 274.18020894759366, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -95.99934928718577, + 276.77828515894697, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -94.49934928718577, + 279.3763613703003, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -92.99934928718577, + 281.9744375816536, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -91.49934928718577, + 284.5725137930069, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -89.99934928718577, + 287.17059000436024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -88.49934928718577, + 289.76866621571355, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -86.99934928718577, + 292.36674242706687, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -85.49934928718577, + 294.9648186384202, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -83.99934928718577, + 297.5628948497735, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -82.49934928718577, + 300.1609710611268, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -82.49934928718577, + 300.1609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -79.90127307583245, + 301.6609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -77.30319686447913, + 303.1609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -74.70512065312582, + 304.6609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -72.1070444417725, + 306.1609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -69.50896823041919, + 307.6609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -66.91089201906587, + 309.1609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -64.31281580771255, + 310.6609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -61.71473959635924, + 312.1609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -59.11666338500592, + 313.6609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -56.518587173652605, + 315.1609710611268, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -56.518587173652605, + 315.1609710611268, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -55.018587173652605, + 317.75904727248013, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-42-15_1830539036/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-42-15_1830539036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee397f73c372ace6371ff437435cf8f1fb1011ef --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-42-15_1830539036/pose.jsonl @@ -0,0 +1,600 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1911.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1914.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1917.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1920.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1923.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1926.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1929.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1929.9737133150888, + 322.823904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1932.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1932.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1935.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1938.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1941.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1944.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1944.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1944.5717895264422, + 321.323904773738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1946.0717895264422, + 323.9219809850913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1947.5717895264422, + 326.5200571964446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1949.0717895264422, + 329.1181334077979, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1950.5717895264422, + 331.71620961915124, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1952.0717895264422, + 334.31428583050456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1953.5717895264422, + 336.9123620418579, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1955.0717895264422, + 339.5104382532112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1956.5717895264422, + 342.1085144645645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1958.0717895264422, + 344.7065906759178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1959.5717895264422, + 347.30466688727114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1961.0717895264422, + 349.90274309862446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1962.5717895264422, + 352.50081930997777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1964.0717895264422, + 355.0988955213311, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1965.5717895264422, + 357.6969717326844, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1967.0717895264422, + 360.2950479440377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1968.5717895264422, + 362.89312415539104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1970.0717895264422, + 365.49120036674435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1971.5717895264422, + 368.08927657809767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1973.0717895264422, + 370.687352789451, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1974.5717895264422, + 373.2854290008043, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1976.0717895264422, + 375.8835052121576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1977.5717895264422, + 378.48158142351093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1979.0717895264422, + 381.07965763486425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1980.5717895264422, + 383.67773384621756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1982.0717895264422, + 386.2758100575709, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1982.0717895264422, + 386.2758100575709, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1982.0717895264422, + 386.2758100575709, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1985.0717895264422, + 386.2758100575709, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1988.0717895264422, + 386.2758100575709, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2004.0, + 400.0, + 26.235 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-47-20_738647283/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-47-20_738647283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c566562e763161b37c55d5be97f9532a92078e1d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-47-20_738647283/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1872.4798182098914, + -161.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1875.0778944212448, + -160.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1877.6759706325981, + -158.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1880.2740468439515, + -157.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1882.8721230553049, + -155.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1885.4701992666583, + -154.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1888.0682754780116, + -152.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1890.666351689365, + -151.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1893.2644279007184, + -149.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1895.8625041120717, + -148.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1898.4605803234251, + -146.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1901.0586565347785, + -145.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1903.6567327461319, + -143.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1906.2548089574852, + -142.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1908.8528851688386, + -140.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1911.450961380192, + -139.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1914.0490375915454, + -137.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1916.6471138028987, + -136.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1919.245190014252, + -134.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1921.8432662256055, + -133.38603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1924.4413424369588, + -131.88603783920178, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1924.4413424369588, + -131.88603783920178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1925.9413424369588, + -129.28796162784846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1927.4413424369588, + -126.68988541649514, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1928.9413424369588, + -124.09180920514183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1930.4413424369588, + -121.49373299378851, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1931.9413424369588, + -118.8956567824352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1933.4413424369588, + -116.29758057108188, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1934.9413424369588, + -113.69950435972856, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1936.4413424369588, + -111.10142814837525, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1937.9413424369588, + -108.50335193702193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1939.4413424369588, + -105.90527572566862, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1940.9413424369588, + -103.3071995143153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1942.4413424369588, + -100.70912330296198, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1943.9413424369588, + -98.11104709160867, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1945.4413424369588, + -95.51297088025535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1946.9413424369588, + -92.91489466890204, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1948.4413424369588, + -90.31681845754872, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-9-11_628974580/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-9-11_628974580/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7e761af134a3654fec54d42486cda22d4e92033 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_19-9-11_628974580/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 981.4382260263833, + 966.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 984.0363022377367, + 965.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 986.63437844909, + 963.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 989.2324546604434, + 962.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 991.8305308717968, + 960.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 994.4286070831502, + 959.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 997.0266832945035, + 957.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 999.6247595058569, + 956.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1002.2228357172103, + 954.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1004.8209119285636, + 953.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1007.418988139917, + 951.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1010.0170643512704, + 950.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1012.6151405626238, + 948.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1015.2132167739771, + 947.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1017.8112929853305, + 945.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1020.4093691966839, + 944.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1023.0074454080373, + 942.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1025.6055216193906, + 941.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1028.203597830744, + 939.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1030.8016740420974, + 938.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1033.3997502534507, + 936.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1035.9978264648041, + 935.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1038.5959026761575, + 933.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1041.1939788875109, + 932.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1043.7920550988642, + 930.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1046.3901313102176, + 929.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1048.988207521571, + 927.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1051.5862837329244, + 926.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1054.1843599442777, + 924.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1056.782436155631, + 923.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1059.3805123669845, + 921.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1061.9785885783378, + 920.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1064.5766647896912, + 918.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1067.1747410010446, + 917.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1069.772817212398, + 915.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1072.3708934237513, + 914.2159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1074.9689696351047, + 912.7159550118147, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1074.9689696351047, + 912.7159550118147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1076.4689696351047, + 910.1178788004613, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1077.9689696351047, + 907.5198025891079, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-10-55_82173109/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-10-55_82173109/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb83bd555e89bbf25575e0a98ad65e3c7a9814fe --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-10-55_82173109/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1692.149643478695, + -175.1339615681781, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1690.649643478695, + -172.5358853568248, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1689.149643478695, + -169.93780914547148, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1687.649643478695, + -167.33973293411816, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1686.149643478695, + -164.74165672276484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1684.649643478695, + -162.14358051141153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1683.149643478695, + -159.5455043000582, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1681.649643478695, + -156.9474280887049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1680.149643478695, + -154.34935187735158, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1678.649643478695, + -151.75127566599826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1677.149643478695, + -149.15319945464495, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1675.649643478695, + -146.55512324329163, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1674.149643478695, + -143.95704703193832, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1672.649643478695, + -141.358970820585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1671.149643478695, + -138.76089460923168, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1669.649643478695, + -136.16281839787837, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1668.149643478695, + -133.56474218652505, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1666.649643478695, + -130.96666597517174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1665.149643478695, + -128.36858976381842, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1663.649643478695, + -125.7705135524651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1662.149643478695, + -123.17243734111179, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1660.649643478695, + -120.57436112975847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1659.149643478695, + -117.97628491840516, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1657.649643478695, + -115.37820870705184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1656.149643478695, + -112.78013249569852, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1654.649643478695, + -110.18205628434521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1653.149643478695, + -107.58398007299189, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1653.149643478695, + -107.58398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1650.5515672673416, + -106.08398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1647.9534910559883, + -104.58398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1645.3554148446349, + -103.08398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1642.7573386332815, + -101.58398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1640.1592624219281, + -100.08398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1637.5611862105748, + -98.58398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1634.9631099992214, + -97.08398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1632.365033787868, + -95.58398007299189, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1629.7669575765146, + -94.08398007299189, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "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/high_average/2025-1-9_20-11-35_857490000/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-11-35_857490000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..095f4c385ad56c0ecfd7dc1c0df17420049ae360 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-11-35_857490000/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 698.7705452598032, + -353.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 701.3686214711565, + -352.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 703.9666976825099, + -350.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 706.5647738938633, + -349.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 709.1628501052166, + -347.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 711.76092631657, + -346.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 714.3590025279234, + -344.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 716.9570787392768, + -343.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 719.5551549506301, + -341.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 722.1532311619835, + -340.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 724.7513073733369, + -338.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 727.3493835846903, + -337.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 729.9474597960436, + -335.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 732.545536007397, + -334.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 735.1436122187504, + -332.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 737.7416884301037, + -331.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 740.3397646414571, + -329.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 742.9378408528105, + -328.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 745.5359170641639, + -326.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 748.1339932755172, + -325.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 750.7320694868706, + -323.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 753.330145698224, + -322.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 755.9282219095774, + -320.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 758.5262981209307, + -319.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 761.1243743322841, + -317.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 763.7224505436375, + -316.31611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 766.3205267549909, + -314.81611073599515, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 766.3205267549909, + -314.81611073599515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 767.8205267549909, + -312.21803452464184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 769.3205267549909, + -309.6199583132885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 770.8205267549909, + -307.0218821019352, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 772.3205267549909, + -304.4238058905819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 773.8205267549909, + -301.8257296792286, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 775.3205267549909, + -299.22765346787526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 776.8205267549909, + -296.62957725652194, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 778.3205267549909, + -294.0315010451686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 779.8205267549909, + -291.4334248338153, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 781.3205267549909, + -288.835348622462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 782.8205267549909, + -286.2372724111087, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 782.8205267549909, + -286.2372724111087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 785.4186029663442, + -284.7372724111087, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 788.0166791776976, + -283.2372724111087, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-22-14_820097487/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-22-14_820097487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..11b7041b65f9b7a02ba048d79c35be78dfd98e20 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-22-14_820097487/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1898.5604345931627, + 586.6852180932627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1901.5604345931627, + 586.6852180932627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1904.5604345931627, + 586.6852180932627, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1904.5604345931627, + 586.6852180932627, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1904.5604345931627, + 586.6852180932627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1906.0604345931627, + 589.283294304616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1907.5604345931627, + 591.8813705159694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1909.0604345931627, + 594.4794467273227, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1910.5604345931627, + 597.0775229386761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1912.0604345931627, + 599.6755991500295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1913.5604345931627, + 602.2736753613829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1915.0604345931627, + 604.8717515727362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1916.5604345931627, + 607.4698277840896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1918.0604345931627, + 610.067903995443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1919.5604345931627, + 612.6659802067963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1921.0604345931627, + 615.2640564181497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1922.5604345931627, + 617.8621326295031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1924.0604345931627, + 620.4602088408565, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1924.0604345931627, + 620.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1926.658510804516, + 621.9602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1929.2565870158694, + 623.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1931.8546632272228, + 624.9602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1934.4527394385761, + 626.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1937.0508156499295, + 627.9602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1939.648891861283, + 629.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1942.2469680726363, + 630.9602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1944.8450442839896, + 632.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1947.443120495343, + 633.9602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1950.0411967066964, + 635.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1952.6392729180498, + 636.9602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1955.2373491294031, + 638.4602088408565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1957.8354253407565, + 639.9602088408565, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-23-9_831768825/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-23-9_831768825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c85b7670ced17e6d64bc6ac646df471816de44a1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-23-9_831768825/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -23.36019341108265, + 209.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -23.36019341108265, + 212.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -23.36019341108265, + 215.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -23.36019341108265, + 218.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -23.36019341108265, + 221.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -23.36019341108265, + 224.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -23.36019341108265, + 227.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -23.36019341108265, + 230.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -23.36019341108265, + 233.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -23.36019341108265, + 236.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -23.36019341108265, + 239.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -23.36019341108265, + 242.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -23.36019341108265, + 245.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -23.36019341108265, + 248.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -23.36019341108265, + 251.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -23.36019341108265, + 254.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -23.36019341108265, + 257.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -23.36019341108265, + 260.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -23.36019341108265, + 263.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -23.36019341108265, + 266.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -23.36019341108265, + 269.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -23.36019341108265, + 272.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -23.36019341108265, + 275.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.36019341108265, + 278.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -23.36019341108265, + 281.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -23.36019341108265, + 284.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -23.36019341108265, + 287.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -23.36019341108265, + 290.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -23.36019341108265, + 293.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -23.36019341108265, + 296.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.36019341108265, + 299.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -23.36019341108265, + 302.6799042964485, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -23.36019341108265, + 302.6799042964485, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -24.86019341108265, + 305.27798050780183, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -26.36019341108265, + 307.87605671915514, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -27.86019341108265, + 310.47413293050846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -29.36019341108265, + 313.0722091418618, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -30.86019341108265, + 315.6702853532151, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -32.36019341108265, + 318.2683615645684, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + 344.0, + 63.6789 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-25-9_1364090032/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-25-9_1364090032/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7ed1e2a9bf8bf83dcfbbc589e0d055f2337a4d8 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-25-9_1364090032/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1911.1893245256672, + 945.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1911.1893245256672, + 942.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1911.1893245256672, + 939.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1911.1893245256672, + 936.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1911.1893245256672, + 933.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1911.1893245256672, + 930.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1911.1893245256672, + 927.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1911.1893245256672, + 924.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1911.1893245256672, + 921.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1911.1893245256672, + 918.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1911.1893245256672, + 915.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1911.1893245256672, + 912.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1911.1893245256672, + 909.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1911.1893245256672, + 906.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1911.1893245256672, + 903.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1911.1893245256672, + 900.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1911.1893245256672, + 897.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1911.1893245256672, + 894.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1911.1893245256672, + 891.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1911.1893245256672, + 888.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1911.1893245256672, + 885.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1911.1893245256672, + 882.4016768825848, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1911.1893245256672, + 882.4016768825848, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1912.6893245256672, + 879.8036006712314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1914.1893245256672, + 877.205524459878, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1915.6893245256672, + 874.6074482485246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1917.1893245256672, + 872.0093720371713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1918.6893245256672, + 869.4112958258179, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1920.1893245256672, + 866.8132196144645, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1921.6893245256672, + 864.2151434031111, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1923.1893245256672, + 861.6170671917578, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1924.6893245256672, + 859.0189909804044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1926.1893245256672, + 856.420914769051, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1927.6893245256672, + 853.8228385576977, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1929.1893245256672, + 851.2247623463443, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-26-43_1442767057/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-26-43_1442767057/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9e92f9477de48993b1eb4a560e0330f13b3e33c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-26-43_1442767057/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1900.8979391475173, + 442.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1898.299862936164, + 441.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1895.7017867248105, + 439.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1893.1037105134571, + 438.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1890.5056343021038, + 436.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1887.9075580907504, + 435.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1885.309481879397, + 433.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1882.7114056680437, + 432.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1880.1133294566903, + 430.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1877.515253245337, + 429.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1874.9171770339835, + 427.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1872.3191008226302, + 426.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1869.7210246112768, + 424.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1867.1229483999234, + 423.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1864.52487218857, + 421.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1861.9267959772167, + 420.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1859.3287197658633, + 418.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1856.73064355451, + 417.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1854.1325673431566, + 415.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1851.5344911318032, + 414.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1848.9364149204498, + 412.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1846.3383387090964, + 411.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1843.740262497743, + 409.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1841.1421862863897, + 408.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1838.5441100750363, + 406.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1835.946033863683, + 405.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1833.3479576523296, + 403.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1830.7498814409762, + 402.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1828.1518052296228, + 400.7939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1825.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1825.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1822.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1819.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1816.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1813.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1810.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1807.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1804.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1801.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1798.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1795.5537290182695, + 399.2939632140704, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-27-46_1287859999/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-27-46_1287859999/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a7fea7f853204d5d5445333ba9afcb5716f8d96 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-27-46_1287859999/pose.jsonl @@ -0,0 +1,574 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1980.0541511629876, + 38.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1977.4560749516343, + 36.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1974.857998740281, + 35.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1972.2599225289275, + 33.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1969.6618463175741, + 32.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1967.0637701062208, + 30.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1964.4656938948674, + 29.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1961.867617683514, + 27.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1959.2695414721607, + 26.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1956.6714652608073, + 24.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1954.073389049454, + 23.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1951.4753128381005, + 21.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1948.8772366267472, + 20.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1946.2791604153938, + 18.82910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1943.6810842040404, + 17.32910907384023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1941.083007992687, + 15.829109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1938.4849317813337, + 14.329109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1935.8868555699803, + 12.829109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1933.288779358627, + 11.329109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1930.6907031472736, + 9.829109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1928.0926269359202, + 8.329109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1925.4945507245668, + 6.829109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1922.8964745132134, + 5.329109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1920.29839830186, + 3.829109073840229, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1920.29839830186, + 3.829109073840229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1918.79839830186, + 1.231032862486913, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1917.29839830186, + -1.367043348866403, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1915.79839830186, + -3.965119560219719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1914.29839830186, + -6.563195771573035, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1912.79839830186, + -9.161271982926351, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1911.29839830186, + -11.759348194279667, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1909.79839830186, + -14.357424405632983, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1908.29839830186, + -16.9555006169863, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1906.79839830186, + -19.553576828339615, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1905.29839830186, + -22.15165303969293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1903.79839830186, + -24.749729251046247, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1902.29839830186, + -27.347805462399563, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1900.79839830186, + -29.94588167375288, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1899.29839830186, + -32.543957885106195, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1897.79839830186, + -35.14203409645951, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1896.29839830186, + -37.74011030781283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1894.79839830186, + -40.33818651916614, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1893.29839830186, + -42.93626273051946, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_20-29-7_1669475776/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-29-7_1669475776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b958a94f05113b3d3f2aadb2505502cf0557958e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-29-7_1669475776/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1050.4678335989804, + 610.5422524632719, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1051.9678335989804, + 613.1403286746252, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1053.4678335989804, + 615.7384048859785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1054.9678335989804, + 618.3364810973319, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1056.4678335989804, + 620.9345573086853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1057.9678335989804, + 623.5326335200386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1059.4678335989804, + 626.130709731392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1060.9678335989804, + 628.7287859427454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1062.4678335989804, + 631.3268621540988, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1063.9678335989804, + 633.9249383654521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1065.4678335989804, + 636.5230145768055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1066.9678335989804, + 639.1210907881589, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1068.4678335989804, + 641.7191669995123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1069.9678335989804, + 644.3172432108656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1071.4678335989804, + 646.915319422219, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1072.9678335989804, + 649.5133956335724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1074.4678335989804, + 652.1114718449257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1075.9678335989804, + 654.7095480562791, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1077.4678335989804, + 657.3076242676325, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1077.4678335989804, + 657.3076242676325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1077.4678335989804, + 660.3076242676325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1077.4678335989804, + 663.3076242676325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1077.4678335989804, + 666.3076242676325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1077.4678335989804, + 669.3076242676325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1077.4678335989804, + 672.3076242676325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1077.4678335989804, + 675.3076242676325, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1092.0, + 708.0, + 64.9253 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-30-32_672139932/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-30-32_672139932/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c58b2e701ac75078856fa5f725c7cfa223312cfe --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-30-32_672139932/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1022.0914592772031, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1025.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1028.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1031.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1034.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1037.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1040.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1043.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1046.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1049.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1052.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1055.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1058.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1058.091459277203, + 128.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1060.6895354885564, + 129.63267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1063.2876116999098, + 131.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1065.8856879112632, + 132.63267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1068.4837641226165, + 134.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1071.08184033397, + 135.63267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1073.6799165453233, + 137.13267629058254, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1076.2779927566767, + 138.63267629058254, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_20-32-26_617909211/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-32-26_617909211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9db4db3c53d5283164e6b968e95b9e68d929ace --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-32-26_617909211/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 523.325285213733, + 25.146523601861915, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 521.825285213733, + 22.5484473905086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 520.325285213733, + 19.950371179155283, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 518.825285213733, + 17.352294967801967, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 517.325285213733, + 14.754218756448651, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 515.825285213733, + 12.156142545095335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 514.325285213733, + 9.558066333742019, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 512.825285213733, + 6.959990122388703, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 511.32528521373297, + 4.361913911035387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 509.82528521373297, + 1.763837699682071, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 508.32528521373297, + -0.834238511671245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 506.82528521373297, + -3.432314723024561, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 505.32528521373297, + -6.030390934377877, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 503.82528521373297, + -8.628467145731193, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 502.32528521373297, + -11.226543357084509, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 500.82528521373297, + -13.824619568437825, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 499.32528521373297, + -16.42269577979114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 497.82528521373297, + -19.020771991144457, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 496.32528521373297, + -21.618848202497773, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 494.82528521373297, + -24.21692441385109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 493.32528521373297, + -26.815000625204405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 491.82528521373297, + -29.41307683655772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 490.32528521373297, + -32.01115304791104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 488.82528521373297, + -34.60922925926435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 487.32528521373297, + -37.20730547061767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 485.82528521373297, + -39.805381681970985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 484.32528521373297, + -42.4034578933243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 482.82528521373297, + -45.00153410467762, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 481.32528521373297, + -47.59961031603093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 479.82528521373297, + -50.19768652738425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 478.32528521373297, + -52.795762738737565, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 478.32528521373297, + -52.795762738737565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 478.32528521373297, + -55.795762738737565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 478.32528521373297, + -58.795762738737565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 478.32528521373297, + -61.795762738737565, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 464.0, + -88.0, + 31.8125 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-35-23_1875641892/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-35-23_1875641892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31630385af8599f1c8f0c0152927c593516445a5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-35-23_1875641892/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -142.224769474533, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -139.224769474533, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -136.224769474533, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -133.224769474533, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -130.224769474533, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -127.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -124.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -121.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -118.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -115.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -112.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -106.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -103.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -100.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -97.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -94.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -91.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -88.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -85.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -82.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -79.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -76.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -73.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -70.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -67.22476947453299, + 373.0722652152535, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-35-38_500037525/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-35-38_500037525/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b165d677eba33f547cbfa97b81203c5f84b8cc00 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-35-38_500037525/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1498.133947552198, + -296.5067076326707, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1499.633947552198, + -293.9086314213174, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1501.133947552198, + -291.3105552099641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1502.633947552198, + -288.7124789986108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1504.133947552198, + -286.11440278725746, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1505.633947552198, + -283.51632657590415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1507.133947552198, + -280.91825036455083, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1508.633947552198, + -278.3201741531975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1510.133947552198, + -275.7220979418442, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1511.633947552198, + -273.1240217304909, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1513.133947552198, + -270.52594551913757, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1514.633947552198, + -267.92786930778425, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1516.133947552198, + -265.32979309643093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1517.633947552198, + -262.7317168850776, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1519.133947552198, + -260.1336406737243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1520.633947552198, + -257.535564462371, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1522.133947552198, + -254.93748825101767, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1523.633947552198, + -252.33941203966435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1525.133947552198, + -249.74133582831104, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1526.633947552198, + -247.14325961695772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1528.133947552198, + -244.5451834056044, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1529.633947552198, + -241.9471071942511, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1531.133947552198, + -239.34903098289777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1532.633947552198, + -236.75095477154446, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1534.133947552198, + -234.15287856019114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1535.633947552198, + -231.55480234883782, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1537.133947552198, + -228.9567261374845, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1538.633947552198, + -226.3586499261312, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1538.633947552198, + -226.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1538.633947552198, + -223.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1538.633947552198, + -220.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1538.633947552198, + -217.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1538.633947552198, + -214.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1538.633947552198, + -211.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1538.633947552198, + -208.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1538.633947552198, + -205.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1538.633947552198, + -202.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1538.633947552198, + -199.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1538.633947552198, + -196.3586499261312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1538.633947552198, + -193.3586499261312, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1548.0, + -168.0, + 5.86359 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-37-28_61101360/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-37-28_61101360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d8f285adb5876a38f338d1a5dc50f0aad8b5450 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-37-28_61101360/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1153.1055450312765, + 354.74812233737157, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1154.6055450312765, + 357.3461985487249, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1156.1055450312765, + 359.9442747600782, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1157.6055450312765, + 362.5423509714315, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1159.1055450312765, + 365.14042718278483, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1160.6055450312765, + 367.73850339413815, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1162.1055450312765, + 370.33657960549147, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1163.6055450312765, + 372.9346558168448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1165.1055450312765, + 375.5327320281981, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1166.6055450312765, + 378.1308082395514, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1168.1055450312765, + 380.72888445090473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1169.6055450312765, + 383.32696066225805, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1169.6055450312765, + 383.32696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1172.2036212426299, + 384.82696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1174.8016974539833, + 386.32696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1177.3997736653366, + 387.82696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1179.99784987669, + 389.32696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1182.5959260880434, + 390.82696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1185.1940022993967, + 392.32696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1187.7920785107501, + 393.82696066225805, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1187.7920785107501, + 393.82696066225805, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1189.2920785107501, + 396.42503687361136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1190.7920785107501, + 399.0231130849647, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-37-43_1267889618/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-37-43_1267889618/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09885f7b0e55b606e94ad3d4a0fe18d301c81d34 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-37-43_1267889618/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 904.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 901.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 898.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 895.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 892.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 889.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 886.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 883.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 880.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 877.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 874.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 871.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 868.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 865.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 865.9700209306056, + -242.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 863.3719447192523, + -243.5287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 860.7738685078989, + -245.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 858.1757922965455, + -246.5287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 855.5777160851922, + -248.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 852.9796398738388, + -249.5287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 850.3815636624854, + -251.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 847.783487451132, + -252.5287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 845.1854112397787, + -254.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 842.5873350284253, + -255.5287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 839.9892588170719, + -257.0287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 837.3911826057185, + -258.5287990348407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 834.7931063943652, + -260.0287990348407, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-45-38_1936060910/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-45-38_1936060910/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c94c083ef51bfa610596992f4d3ca2a6983c7087 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-45-38_1936060910/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 992.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 995.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 998.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1001.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1004.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1007.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1010.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1013.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1016.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1019.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1022.1192994749281, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1025.119299474928, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1028.119299474928, + 191.86447364566033, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1028.119299474928, + 191.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1030.7173756862815, + 190.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1033.3154518976348, + 188.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1035.9135281089882, + 187.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1038.5116043203416, + 185.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1041.109680531695, + 184.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1043.7077567430483, + 182.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1046.3058329544017, + 181.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1048.903909165755, + 179.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1051.5019853771084, + 178.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1054.1000615884618, + 176.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1056.6981377998152, + 175.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1059.2962140111686, + 173.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1061.894290222522, + 172.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1064.4923664338753, + 170.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1067.0904426452287, + 169.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1069.688518856582, + 167.86447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1072.2865950679354, + 166.36447364566033, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1074.8846712792888, + 164.86447364566033, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_20-47-13_1012836610/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-47-13_1012836610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa96be9fbc23f0a9a546e0bc7c264f42e91e1ed5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-47-13_1012836610/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1482.129931080147, + -196.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1482.129931080147, + -193.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1482.129931080147, + -190.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1482.129931080147, + -187.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1482.129931080147, + -184.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1482.129931080147, + -181.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1482.129931080147, + -178.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1482.129931080147, + -175.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1482.129931080147, + -172.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1482.129931080147, + -169.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1482.129931080147, + -166.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1482.129931080147, + -163.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1482.129931080147, + -160.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1482.129931080147, + -157.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1482.129931080147, + -154.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1482.129931080147, + -151.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1482.129931080147, + -148.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1482.129931080147, + -145.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1482.129931080147, + -142.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1482.129931080147, + -139.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1482.129931080147, + -136.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1482.129931080147, + -133.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1482.129931080147, + -130.3298554946755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1482.129931080147, + -127.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1482.129931080147, + -124.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1482.129931080147, + -121.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1482.129931080147, + -118.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1482.129931080147, + -115.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1482.129931080147, + -112.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1482.129931080147, + -109.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1482.129931080147, + -106.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1482.129931080147, + -103.32985549467551, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1482.129931080147, + -103.32985549467551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1483.629931080147, + -100.7317792833222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1485.129931080147, + -98.13370307196888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1486.629931080147, + -95.53562686061557, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1488.0, + -52.0, + 18.9243 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-58-8_332238283/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-58-8_332238283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e50a3bdd1c17c6fbb5e19cfea605fdb8300aba34 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-58-8_332238283/pose.jsonl @@ -0,0 +1,587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1811.1497600640826, + -119.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1811.1497600640826, + -116.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1811.1497600640826, + -113.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1811.1497600640826, + -110.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1811.1497600640826, + -107.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1811.1497600640826, + -104.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1811.1497600640826, + -101.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1811.1497600640826, + -98.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1811.1497600640826, + -95.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1811.1497600640826, + -92.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1811.1497600640826, + -89.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1811.1497600640826, + -86.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1811.1497600640826, + -83.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1811.1497600640826, + -80.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1811.1497600640826, + -77.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1811.1497600640826, + -74.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1811.1497600640826, + -71.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1811.1497600640826, + -68.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1811.1497600640826, + -65.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1811.1497600640826, + -62.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1811.1497600640826, + -59.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1811.1497600640826, + -56.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1811.1497600640826, + -53.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1811.1497600640826, + -50.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1811.1497600640826, + -47.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1811.1497600640826, + -44.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1811.1497600640826, + -41.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1811.1497600640826, + -38.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1811.1497600640826, + -35.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1811.1497600640826, + -32.02232339100888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1811.1497600640826, + -29.022323391008882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1811.1497600640826, + -26.022323391008882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1811.1497600640826, + -23.022323391008882, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1811.1497600640826, + -23.022323391008882, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1811.1497600640826, + -23.022323391008882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1813.747836275436, + -21.522323391008882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1816.3459124867893, + -20.022323391008882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1818.9439886981427, + -18.522323391008882, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1818.9439886981427, + -18.522323391008882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1820.4439886981427, + -15.924247179655566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1821.9439886981427, + -13.32617096830225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1823.4439886981427, + -10.728094756948934, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1824.9439886981427, + -8.130018545595618, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1826.4439886981427, + -5.531942334242302, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-6-49_174515334/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-6-49_174515334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d42278cf1750d93db26952ff9afb1ff4654d513b --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-6-49_174515334/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1699.0036849611515, + 651.8217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1696.4056087497981, + 653.3217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1693.8075325384448, + 654.8217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1691.2094563270914, + 656.3217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1688.611380115738, + 657.8217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1686.0133039043847, + 659.3217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1683.4152276930313, + 660.8217324752302, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1680.817151481678, + 662.3217324752302, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1600.0, + 700.0, + 215.094 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-9-51_670752506/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-9-51_670752506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..38fc2fdaf44b65ae9d2d32ebc3c9a8aca8dca0f3 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_20-9-51_670752506/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 410.8856115224809, + -186.3496351573705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 412.3856115224809, + -183.75155894601718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 413.8856115224809, + -181.15348273466387, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 415.3856115224809, + -178.55540652331055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 416.8856115224809, + -175.95733031195724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 418.3856115224809, + -173.35925410060392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 419.8856115224809, + -170.7611778892506, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 421.3856115224809, + -168.1631016778973, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 422.8856115224809, + -165.56502546654397, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 424.3856115224809, + -162.96694925519066, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 425.8856115224809, + -160.36887304383734, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 427.3856115224809, + -157.77079683248402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 428.8856115224809, + -155.1727206211307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 430.3856115224809, + -152.5746444097774, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 431.8856115224809, + -149.97656819842408, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 433.3856115224809, + -147.37849198707076, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 434.8856115224809, + -144.78041577571744, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 436.3856115224809, + -142.18233956436413, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 437.8856115224809, + -139.5842633530108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 439.3856115224809, + -136.9861871416575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 440.8856115224809, + -134.38811093030418, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 442.3856115224809, + -131.79003471895086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 443.8856115224809, + -129.19195850759755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 445.3856115224809, + -126.59388229624423, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 446.8856115224809, + -123.99580608489092, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 448.3856115224809, + -121.3977298735376, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 449.8856115224809, + -118.79965366218428, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 451.3856115224809, + -116.20157745083097, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "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/high_average/2025-1-9_21-11-56_672563970/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-11-56_672563970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14dc4114a97b946688f14bd409453275dac4d5ce --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-11-56_672563970/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 990.9504529388967, + 994.2913147613212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 993.9504529388967, + 994.2913147613212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 996.9504529388967, + 994.2913147613212, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 996.9504529388967, + 994.2913147613212, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 996.9504529388967, + 994.2913147613212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 998.4504529388967, + 991.6932385499679, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 999.9504529388967, + 989.0951623386145, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1001.4504529388967, + 986.4970861272611, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1002.9504529388967, + 983.8990099159078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1004.4504529388967, + 981.3009337045544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1005.9504529388967, + 978.702857493201, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1007.4504529388967, + 976.1047812818476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1008.9504529388967, + 973.5067050704943, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1010.4504529388967, + 970.9086288591409, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1011.9504529388967, + 968.3105526477875, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1013.4504529388967, + 965.7124764364341, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1014.9504529388967, + 963.1144002250808, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1016.4504529388967, + 960.5163240137274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1017.9504529388967, + 957.918247802374, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1019.4504529388967, + 955.3201715910207, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1020.9504529388967, + 952.7220953796673, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1022.4504529388967, + 950.1240191683139, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1023.9504529388967, + 947.5259429569605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1025.4504529388967, + 944.9278667456072, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1026.9504529388967, + 942.3297905342538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1028.4504529388967, + 939.7317143229004, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1028.4504529388967, + 939.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1031.04852915025, + 938.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1033.6466053616034, + 936.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1036.2446815729568, + 935.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1038.8427577843102, + 933.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1041.4408339956635, + 932.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1044.038910207017, + 930.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1046.6369864183703, + 929.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1049.2350626297236, + 927.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1051.833138841077, + 926.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1054.4312150524304, + 924.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1057.0292912637838, + 923.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1059.6273674751371, + 921.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1062.2254436864905, + 920.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1064.8235198978439, + 918.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1067.4215961091973, + 917.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1070.0196723205506, + 915.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1072.617748531904, + 914.2317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1075.2158247432574, + 912.7317143229004, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1077.8139009546107, + 911.2317143229004, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-12-52_1143195511/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-12-52_1143195511/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3eb862379fc5b0bdd5c282a36645962b0854cfad --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-12-52_1143195511/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1475.6532400645035, + 585.1570124695698, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1477.1532400645035, + 582.5589362582166, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1478.6532400645035, + 579.9608600468632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1480.1532400645035, + 577.3627838355098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1481.6532400645035, + 574.7647076241565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1483.1532400645035, + 572.1666314128031, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1484.6532400645035, + 569.5685552014497, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1486.1532400645035, + 566.9704789900964, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1487.6532400645035, + 564.372402778743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1489.1532400645035, + 561.7743265673896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1490.6532400645035, + 559.1762503560362, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1492.1532400645035, + 556.5781741446829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1493.6532400645035, + 553.9800979333295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1495.1532400645035, + 551.3820217219761, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1495.1532400645035, + 551.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1495.1532400645035, + 548.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1495.1532400645035, + 545.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1495.1532400645035, + 542.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1495.1532400645035, + 539.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1495.1532400645035, + 536.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1495.1532400645035, + 533.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1495.1532400645035, + 530.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1495.1532400645035, + 527.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1495.1532400645035, + 524.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1495.1532400645035, + 521.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1495.1532400645035, + 518.3820217219761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1495.1532400645035, + 515.3820217219761, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-25-39_404259631/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-25-39_404259631/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a9ebe90e60036804c755b50922ab637a7c12b29 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-25-39_404259631/pose.jsonl @@ -0,0 +1,652 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1876.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1879.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1882.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1885.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1888.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1891.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1894.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1897.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1900.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1903.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1906.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1909.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1912.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1915.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1918.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1921.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1924.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1927.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1930.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1933.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1936.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1939.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1939.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1939.7817803814905, + -1.0007979064045571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1941.2817803814905, + 1.5972783049487589, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1942.7817803814905, + 4.195354516302075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1944.2817803814905, + 6.793430727655391, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1944.2817803814905, + 6.793430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1946.879856592844, + 8.293430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1949.4779328041973, + 9.793430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1952.0760090155507, + 11.293430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1954.674085226904, + 12.793430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1957.2721614382574, + 14.293430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1959.8702376496108, + 15.793430727655391, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1962.4683138609641, + 17.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1965.0663900723175, + 18.79343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1967.664466283671, + 20.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1970.2625424950243, + 21.79343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1972.8606187063776, + 23.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1975.458694917731, + 24.79343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1978.0567711290844, + 26.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1980.6548473404378, + 27.79343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 1983.2529235517911, + 29.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 1985.8509997631445, + 30.79343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 1988.4490759744979, + 32.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 1991.0471521858512, + 33.79343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + 1993.6452283972046, + 35.29343072765539, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + 1993.6452283972046, + 35.29343072765539, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + 1996.6452283972046, + 35.29343072765539, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "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/high_average/2025-1-9_21-29-59_18400960/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-29-59_18400960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..427c532199502b1a52239e20d74e12e51692a2b7 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-29-59_18400960/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1365.351780302671, + 711.50864859524, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1366.851780302671, + 714.1067248065933, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1368.351780302671, + 716.7048010179467, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1369.851780302671, + 719.3028772293001, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1371.351780302671, + 721.9009534406534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1372.851780302671, + 724.4990296520068, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1374.351780302671, + 727.0971058633602, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1375.851780302671, + 729.6951820747136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1377.351780302671, + 732.2932582860669, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1378.851780302671, + 734.8913344974203, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1380.351780302671, + 737.4894107087737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1381.851780302671, + 740.087486920127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1383.351780302671, + 742.6855631314804, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1384.851780302671, + 745.2836393428338, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1386.351780302671, + 747.8817155541872, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1387.851780302671, + 750.4797917655405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1389.351780302671, + 753.0778679768939, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1390.851780302671, + 755.6759441882473, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1392.351780302671, + 758.2740203996007, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1393.851780302671, + 760.872096610954, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1393.851780302671, + 760.872096610954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1396.4498565140243, + 762.372096610954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1399.0479327253777, + 763.872096610954, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1401.646008936731, + 765.372096610954, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_21-36-56_333293469/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-36-56_333293469/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2f8bb16f75883b715aff21a9d35437ab565fbf1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-36-56_333293469/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1363.220327933499, + 256.93938288388335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1365.8184041448524, + 258.43938288388335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1368.4164803562057, + 259.93938288388335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1371.014556567559, + 261.43938288388335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1373.6126327789125, + 262.93938288388335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1376.2107089902659, + 264.43938288388335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1378.8087852016192, + 265.93938288388335, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1472.0, + 304.0, + 103.299 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-4-2_1104561852/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-4-2_1104561852/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10bd146128f3458cebc183bc5117009fd509cd12 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-4-2_1104561852/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1825.3884970974882, + 434.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1827.9865733088416, + 433.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1830.584649520195, + 431.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1833.1827257315483, + 430.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1835.7808019429017, + 428.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1838.378878154255, + 427.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1840.9769543656084, + 425.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1843.5750305769618, + 424.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1846.1731067883152, + 422.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1848.7711829996686, + 421.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1851.369259211022, + 419.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1853.9673354223753, + 418.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1856.5654116337287, + 416.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1859.163487845082, + 415.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1861.7615640564354, + 413.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1864.3596402677888, + 412.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1866.9577164791422, + 410.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1869.5557926904955, + 409.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1872.153868901849, + 407.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1874.7519451132023, + 406.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1877.3500213245557, + 404.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1879.948097535909, + 403.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1882.5461737472624, + 401.97558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1885.1442499586158, + 400.47558686502737, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1885.1442499586158, + 400.47558686502737, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1886.6442499586158, + 397.87751065367405, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1888.1442499586158, + 395.27943444232073, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1889.6442499586158, + 392.6813582309674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1891.1442499586158, + 390.0832820196141, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1892.6442499586158, + 387.4852058082608, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1894.1442499586158, + 384.88712959690747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1895.6442499586158, + 382.28905338555415, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1897.1442499586158, + 379.69097717420084, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1898.6442499586158, + 377.0929009628475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1900.1442499586158, + 374.4948247514942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1901.6442499586158, + 371.8967485401409, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1903.1442499586158, + 369.2986723287876, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1924.0, + 356.0, + 28.504 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-42-43_1321756868/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-42-43_1321756868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2e5aed72d0d4c777bf7207ea0d272edce5c1ac1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-42-43_1321756868/pose.jsonl @@ -0,0 +1,483 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1866.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1869.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1872.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1875.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1878.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1881.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1884.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1887.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1890.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1893.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1896.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1899.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1902.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1905.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1908.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1911.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1914.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1914.4664364541768, + 506.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1917.0645126655302, + 504.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1919.6625888768835, + 503.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1922.260665088237, + 501.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1924.8587412995903, + 500.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1927.4568175109437, + 498.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1930.054893722297, + 497.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1932.6529699336504, + 495.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1935.2510461450038, + 494.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1937.8491223563572, + 492.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1940.4471985677105, + 491.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1943.045274779064, + 489.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1945.6433509904173, + 488.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1948.2414272017706, + 486.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1950.839503413124, + 485.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1953.4375796244774, + 483.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1956.0356558358308, + 482.26030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1958.6337320471841, + 480.76030928157024, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1961.2318082585375, + 479.26030928157024, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1996.0, + 468.0, + 64.6317 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-5-18_202550399/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-5-18_202550399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad204cab20682616b3986e1717369333f3461909 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-5-18_202550399/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1000.9919261115161, + -101.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 998.3938499001629, + -100.005570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 995.7957736888095, + -98.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 993.1976974774561, + -97.005570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 990.5996212661028, + -95.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 988.0015450547494, + -94.005570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 985.403468843396, + -92.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 982.8053926320426, + -91.005570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 980.2073164206893, + -89.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 977.6092402093359, + -88.005570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 975.0111639979825, + -86.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 972.4130877866291, + -85.005570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 969.8150115752758, + -83.505570077526, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 969.8150115752758, + -83.505570077526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 968.3150115752758, + -80.90749386617269, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 966.8150115752758, + -78.30941765481937, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 965.3150115752758, + -75.71134144346605, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 963.8150115752758, + -73.11326523211274, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 962.3150115752758, + -70.51518902075942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 960.8150115752758, + -67.9171128094061, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 959.3150115752758, + -65.31903659805279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 957.8150115752758, + -62.720960386699474, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 956.3150115752758, + -60.12288417534616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 954.8150115752758, + -57.52480796399284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 953.3150115752758, + -54.926731752639526, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 951.8150115752758, + -52.32865554128621, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_21-5-45_1887665154/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-5-45_1887665154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efaaf728d940362c0d7920956b2a1369ad9da388 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-5-45_1887665154/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1694.1630347372002, + 257.34677618677085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1692.6630347372002, + 254.74869997541754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1691.1630347372002, + 252.15062376406422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1689.6630347372002, + 249.5525475527109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1688.1630347372002, + 246.9544713413576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1686.6630347372002, + 244.35639513000427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1685.1630347372002, + 241.75831891865096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1683.6630347372002, + 239.16024270729764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1682.1630347372002, + 236.56216649594433, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1680.6630347372002, + 233.964090284591, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1679.1630347372002, + 231.3660140732377, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1677.6630347372002, + 228.76793786188438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1676.1630347372002, + 226.16986165053106, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1674.6630347372002, + 223.57178543917775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1673.1630347372002, + 220.97370922782443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1671.6630347372002, + 218.3756330164711, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1670.1630347372002, + 215.7775568051178, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1668.6630347372002, + 213.17948059376448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1667.1630347372002, + 210.58140438241116, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1667.1630347372002, + 210.58140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1664.5649585258468, + 209.08140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1661.9668823144934, + 207.58140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1659.36880610314, + 206.08140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1656.7707298917867, + 204.58140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1654.1726536804333, + 203.08140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1651.57457746908, + 201.58140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1648.9765012577266, + 200.08140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1646.3784250463732, + 198.58140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1643.7803488350198, + 197.08140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1641.1822726236664, + 195.58140438241116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1638.584196412313, + 194.08140438241116, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "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/high_average/2025-1-9_21-51-58_1600206898/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-51-58_1600206898/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb356b424ae277477f60b361d833ae511a69d6b0 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-51-58_1600206898/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -150.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -147.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -144.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -138.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -135.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -132.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -129.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -126.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -123.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -120.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -117.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -114.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -108.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -105.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -102.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -99.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -96.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -93.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -90.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -87.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -84.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -81.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -81.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -81.39291146322773, + 353.8223551424336, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -79.89291146322773, + 356.4204313537869, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -78.39291146322773, + 359.0185075651402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -76.89291146322773, + 361.61658377649354, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -76.89291146322773, + 361.61658377649354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -74.29483525187442, + 363.11658377649354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -71.6967590405211, + 364.61658377649354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -69.09868282916779, + 366.11658377649354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -66.50060661781447, + 367.61658377649354, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -28.0, + 372.0, + 30.9954 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-54-34_895873480/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-54-34_895873480/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec71acac286afc8412dc41b6ceebecb98bc84f53 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-54-34_895873480/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 768.0242833751068, + -399.1826865206674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 769.5242833751068, + -396.5846103093141, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 771.0242833751068, + -393.98653409796077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 772.5242833751068, + -391.38845788660745, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 774.0242833751068, + -388.79038167525414, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 775.5242833751068, + -386.1923054639008, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 777.0242833751068, + -383.5942292525475, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 778.5242833751068, + -380.9961530411942, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 780.0242833751068, + -378.3980768298409, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 781.5242833751068, + -375.80000061848756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 783.0242833751068, + -373.20192440713424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 784.5242833751068, + -370.6038481957809, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 786.0242833751068, + -368.0057719844276, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 787.5242833751068, + -365.4076957730743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 789.0242833751068, + -362.809619561721, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 790.5242833751068, + -360.21154335036766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 792.0242833751068, + -357.61346713901435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 793.5242833751068, + -355.01539092766103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 795.0242833751068, + -352.4173147163077, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 796.5242833751068, + -349.8192385049544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 798.0242833751068, + -347.2211622936011, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 799.5242833751068, + -344.62308608224777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 801.0242833751068, + -342.02500987089445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 802.5242833751068, + -339.42693365954113, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 802.5242833751068, + -339.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 802.5242833751068, + -336.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 802.5242833751068, + -333.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 802.5242833751068, + -330.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 802.5242833751068, + -327.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 802.5242833751068, + -324.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 802.5242833751068, + -321.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 802.5242833751068, + -318.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 802.5242833751068, + -315.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 802.5242833751068, + -312.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 802.5242833751068, + -309.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 802.5242833751068, + -306.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 802.5242833751068, + -303.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 802.5242833751068, + -300.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 802.5242833751068, + -297.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 802.5242833751068, + -294.42693365954113, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 802.5242833751068, + -291.42693365954113, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-54-55_1587992726/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-54-55_1587992726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1b5e4a703424310627d7313a9dd5d07476b9028 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-54-55_1587992726/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 939.5989983326655, + 567.6936370946503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 939.5989983326655, + 564.6936370946503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 939.5989983326655, + 561.6936370946503, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 939.5989983326655, + 558.6936370946503, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_21-59-43_1403938270/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-59-43_1403938270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f3b188c6ce1139639d272d0a0c41fb1b8cf0555 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-59-43_1403938270/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1174.2853285885624, + 694.7974206660222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1175.7853285885624, + 697.3954968773755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1177.2853285885624, + 699.9935730887289, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1178.7853285885624, + 702.5916493000823, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1180.2853285885624, + 705.1897255114357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1181.7853285885624, + 707.787801722789, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1183.2853285885624, + 710.3858779341424, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1184.7853285885624, + 712.9839541454958, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1186.2853285885624, + 715.5820303568491, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1187.7853285885624, + 718.1801065682025, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1189.2853285885624, + 720.7781827795559, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1190.7853285885624, + 723.3762589909093, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1192.2853285885624, + 725.9743352022626, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1193.7853285885624, + 728.572411413616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1195.2853285885624, + 731.1704876249694, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1196.7853285885624, + 733.7685638363228, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1198.2853285885624, + 736.3666400476761, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1199.7853285885624, + 738.9647162590295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1201.2853285885624, + 741.5627924703829, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1201.2853285885624, + 741.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1201.2853285885624, + 744.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1201.2853285885624, + 747.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1201.2853285885624, + 750.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1201.2853285885624, + 753.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1201.2853285885624, + 756.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1201.2853285885624, + 759.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1201.2853285885624, + 762.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1201.2853285885624, + 765.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1201.2853285885624, + 768.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1201.2853285885624, + 771.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1201.2853285885624, + 774.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1201.2853285885624, + 777.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1201.2853285885624, + 780.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1201.2853285885624, + 783.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1201.2853285885624, + 786.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1201.2853285885624, + 789.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1201.2853285885624, + 792.5627924703829, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1201.2853285885624, + 795.5627924703829, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-7-16_771476364/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-7-16_771476364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef7b6e2afdf7b710f2c31db61f25f590f3fd6897 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_21-7-16_771476364/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1380.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1377.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1374.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1371.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1368.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1365.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1362.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1359.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1356.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1353.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1350.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1347.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1347.2088933477096, + 486.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1344.6108171363562, + 485.1745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1342.0127409250028, + 483.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1339.4146647136495, + 482.1745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1336.816588502296, + 480.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1334.2185122909427, + 479.1745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1331.6204360795894, + 477.6745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1329.022359868236, + 476.1745843814519, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1326.4242836568826, + 474.6745843814519, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1236.0, + 456.0, + 148.475 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-11-25_240854387/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-11-25_240854387/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a81935795d521645cf1a1cd4d0ae89a6782f6107 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-11-25_240854387/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 826.2724217748851, + 599.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 826.2724217748851, + 596.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 826.2724217748851, + 593.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 826.2724217748851, + 590.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 826.2724217748851, + 587.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 826.2724217748851, + 584.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 826.2724217748851, + 581.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 826.2724217748851, + 578.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 826.2724217748851, + 575.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 826.2724217748851, + 572.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 826.2724217748851, + 569.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 826.2724217748851, + 566.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 826.2724217748851, + 563.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 826.2724217748851, + 560.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 826.2724217748851, + 557.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 826.2724217748851, + 554.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 826.2724217748851, + 551.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 826.2724217748851, + 548.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 826.2724217748851, + 545.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 826.2724217748851, + 542.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 826.2724217748851, + 539.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 826.2724217748851, + 536.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 826.2724217748851, + 533.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 826.2724217748851, + 530.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 826.2724217748851, + 527.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 826.2724217748851, + 524.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 826.2724217748851, + 521.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 826.2724217748851, + 518.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 826.2724217748851, + 515.1635974103208, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 826.2724217748851, + 515.1635974103208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 824.7724217748851, + 512.5655211989674, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 823.2724217748851, + 509.9674449876141, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "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/high_average/2025-1-9_22-14-39_193552063/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-14-39_193552063/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d5b7bd167835d15c0a06f6d7db93913c858ed2a --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-14-39_193552063/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1821.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1824.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1827.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1830.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1833.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1836.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1839.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1842.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1845.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1848.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1851.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1854.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1857.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1857.312288044244, + 791.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1859.9103642555974, + 793.0917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1862.5084404669508, + 794.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1865.1065166783042, + 796.0917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1867.7045928896575, + 797.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1870.302669101011, + 799.0917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1872.9007453123643, + 800.5917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1875.4988215237177, + 802.0917910244297, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1875.4988215237177, + 802.0917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1878.4988215237177, + 802.0917910244297, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1881.4988215237177, + 802.0917910244297, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1936.0, + 812.0, + 160.906 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-14-3_1386510139/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-14-3_1386510139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..025573c27108e161a3cd0bf021a5bf9fa4396391 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-14-3_1386510139/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1555.31556159351, + 592.7564889595753, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1553.81556159351, + 590.158412748222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1552.31556159351, + 587.5603365368686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1550.81556159351, + 584.9622603255152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1549.31556159351, + 582.3641841141618, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1547.81556159351, + 579.7661079028085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1546.31556159351, + 577.1680316914551, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1544.81556159351, + 574.5699554801017, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1543.31556159351, + 571.9718792687484, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1541.81556159351, + 569.373803057395, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1540.31556159351, + 566.7757268460416, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1538.81556159351, + 564.1776506346882, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1537.31556159351, + 561.5795744233349, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1535.81556159351, + 558.9814982119815, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1534.31556159351, + 556.3834220006281, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1532.81556159351, + 553.7853457892747, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1531.31556159351, + 551.1872695779214, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1529.81556159351, + 548.589193366568, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1529.81556159351, + 548.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1529.81556159351, + 545.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1529.81556159351, + 542.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1529.81556159351, + 539.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1529.81556159351, + 536.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1529.81556159351, + 533.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1529.81556159351, + 530.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1529.81556159351, + 527.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1529.81556159351, + 524.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1529.81556159351, + 521.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1529.81556159351, + 518.589193366568, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1529.81556159351, + 515.589193366568, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-18-28_1521740435/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-18-28_1521740435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3f3b06b7a7b00becee0ab68d710f6c0d2dc16c5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-18-28_1521740435/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1493.9953933859595, + -193.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1493.9953933859595, + -190.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1493.9953933859595, + -187.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1493.9953933859595, + -184.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1493.9953933859595, + -181.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1493.9953933859595, + -178.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1493.9953933859595, + -175.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1493.9953933859595, + -172.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1493.9953933859595, + -169.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1493.9953933859595, + -166.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1493.9953933859595, + -163.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1493.9953933859595, + -160.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1493.9953933859595, + -157.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1493.9953933859595, + -154.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1493.9953933859595, + -151.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1493.9953933859595, + -148.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1493.9953933859595, + -145.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1493.9953933859595, + -142.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1493.9953933859595, + -139.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1493.9953933859595, + -136.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1493.9953933859595, + -133.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1493.9953933859595, + -130.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1493.9953933859595, + -127.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1493.9953933859595, + -124.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1493.9953933859595, + -121.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1493.9953933859595, + -118.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1493.9953933859595, + -115.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1493.9953933859595, + -112.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1493.9953933859595, + -109.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1493.9953933859595, + -106.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1493.9953933859595, + -103.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1493.9953933859595, + -100.02903819835586, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1493.9953933859595, + -100.02903819835586, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1492.4953933859595, + -97.43096198700255, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1490.9953933859595, + -94.83288577564923, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_22-22-10_1260995960/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-22-10_1260995960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28ada6b055bb7b71e3f40108a7d0591fce322d31 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-22-10_1260995960/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 277.3345573770662, + 368.98039052115314, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 278.8345573770662, + 366.3823143097998, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 280.3345573770662, + 363.7842380984465, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 281.8345573770662, + 361.1861618870932, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 283.3345573770662, + 358.5880856757399, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 284.8345573770662, + 355.99000946438656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 286.3345573770662, + 353.39193325303324, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 287.8345573770662, + 350.7938570416799, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 289.3345573770662, + 348.1957808303266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 290.8345573770662, + 345.5977046189733, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.3345573770662, + 342.99962840762, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.8345573770662, + 340.40155219626666, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 295.3345573770662, + 337.80347598491335, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 296.8345573770662, + 335.20539977356003, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 298.3345573770662, + 332.6073235622067, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 299.8345573770662, + 330.0092473508534, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 301.3345573770662, + 327.4111711395001, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 302.8345573770662, + 324.81309492814677, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 304.3345573770662, + 322.21501871679345, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 304.3345573770662, + 322.21501871679345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 304.3345573770662, + 319.21501871679345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 304.3345573770662, + 316.21501871679345, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 304.3345573770662, + 313.21501871679345, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_22-23-24_1230769829/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-23-24_1230769829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbe3f5d2210338e081caa80da151e56684be530c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-23-24_1230769829/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1062.0418810738981, + 246.64212113956086, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1063.5418810738981, + 244.04404492820754, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1065.0418810738981, + 241.44596871685422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1066.5418810738981, + 238.8478925055009, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1068.0418810738981, + 236.2498162941476, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1069.5418810738981, + 233.65174008279428, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1071.0418810738981, + 231.05366387144096, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1072.5418810738981, + 228.45558766008764, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1074.0418810738981, + 225.85751144873433, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1075.5418810738981, + 223.259435237381, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1077.0418810738981, + 220.6613590260277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1078.5418810738981, + 218.06328281467438, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1080.0418810738981, + 215.46520660332106, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1081.5418810738981, + 212.86713039196775, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1083.0418810738981, + 210.26905418061443, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1084.5418810738981, + 207.67097796926112, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1086.0418810738981, + 205.0729017579078, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1087.5418810738981, + 202.47482554655448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1089.0418810738981, + 199.87674933520117, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1089.0418810738981, + 199.87674933520117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1091.6399572852515, + 198.37674933520117, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "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/high_average/2025-1-9_22-39-41_763148569/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-41_763148569/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6df9599ee40e240dbbbb62fe9e248bbf177c151 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-39-41_763148569/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 256.2530248727693, + 255.08712077920296, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 254.7530248727693, + 252.48904456784965, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 253.2530248727693, + 249.89096835649633, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 251.7530248727693, + 247.29289214514301, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 250.2530248727693, + 244.6948159337897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 248.7530248727693, + 242.09673972243638, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 247.2530248727693, + 239.49866351108307, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 245.7530248727693, + 236.90058729972975, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 244.2530248727693, + 234.30251108837643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 242.7530248727693, + 231.70443487702312, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 241.2530248727693, + 229.1063586656698, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 239.7530248727693, + 226.5082824543165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 238.2530248727693, + 223.91020624296317, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.7530248727693, + 221.31213003160985, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 235.2530248727693, + 218.71405382025654, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 233.7530248727693, + 216.11597760890322, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 232.2530248727693, + 213.5179013975499, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.7530248727693, + 210.9198251861966, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 229.2530248727693, + 208.32174897484327, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 227.7530248727693, + 205.72367276348996, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 226.2530248727693, + 203.12559655213664, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 224.7530248727693, + 200.52752034078333, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 224.7530248727693, + 200.52752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 222.15494866141597, + 199.02752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 219.55687245006266, + 197.52752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 216.95879623870934, + 196.02752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 214.36072002735602, + 194.52752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 211.7626438160027, + 193.02752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 209.1645676046494, + 191.52752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 206.56649139329608, + 190.02752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 203.96841518194276, + 188.52752034078333, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.37033897058944, + 187.02752034078333, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-4-24_93155710/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-4-24_93155710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be15985a59253997bab3fbe43d652c17f30c3dee --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-4-24_93155710/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1692.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1695.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1698.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1701.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1704.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1707.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1710.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1713.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1716.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1719.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1722.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1725.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1728.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1731.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1734.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1737.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1740.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1743.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1746.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1749.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1752.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1755.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1758.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1761.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1764.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1767.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1770.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1773.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1776.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1779.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1782.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1785.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1788.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1791.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1794.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1797.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1800.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1803.0692066443223, + 20.34119628245755, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1828.0, + 20.0, + 28.504 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-45-55_79065186/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-45-55_79065186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4d19ddce08ece7811639d1c62840f74caaa7829 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-45-55_79065186/pose.jsonl @@ -0,0 +1,496 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 217.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 220.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 223.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 226.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 229.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 232.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 235.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 235.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 235.90332139048962, + 326.15488203945233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 237.40332139048962, + 323.556805828099, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 238.90332139048962, + 320.9587296167457, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 240.40332139048962, + 318.3606534053924, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 240.40332139048962, + 318.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 243.00139760184294, + 316.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 245.59947381319625, + 315.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 248.19755002454957, + 313.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 250.7956262359029, + 312.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 253.3937024472562, + 310.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 255.99177865860952, + 309.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 258.58985486996283, + 307.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 261.18793108131615, + 306.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 263.78600729266947, + 304.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 266.3840835040228, + 303.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 268.9821597153761, + 301.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 271.5802359267294, + 300.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 274.17831213808273, + 298.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 276.77638834943605, + 297.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 279.37446456078936, + 295.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 281.9725407721427, + 294.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 284.570616983496, + 292.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 287.1686931948493, + 291.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 289.7667694062026, + 289.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 292.36484561755594, + 288.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 294.96292182890926, + 286.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 297.5609980402626, + 285.3606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 300.1590742516159, + 283.8606534053924, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 302.7571504629692, + 282.3606534053924, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "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/high_average/2025-1-9_22-47-41_535286141/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-47-41_535286141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b68823b15f3b69765c272cd33973760480d311c --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-47-41_535286141/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1750.706679016761, + 238.53598539212223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1753.706679016761, + 238.53598539212223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1756.706679016761, + 238.53598539212223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1759.706679016761, + 238.53598539212223, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1759.706679016761, + 238.53598539212223, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1759.706679016761, + 238.53598539212223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1761.206679016761, + 235.9379091807689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1762.706679016761, + 233.3398329694156, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1764.206679016761, + 230.74175675806228, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1765.706679016761, + 228.14368054670896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1767.206679016761, + 225.54560433535565, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1767.206679016761, + 225.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1769.8047552281143, + 224.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1772.4028314394677, + 222.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1775.000907650821, + 221.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1777.5989838621745, + 219.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1780.1970600735278, + 218.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1782.7951362848812, + 216.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1785.3932124962346, + 215.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1787.991288707588, + 213.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1790.5893649189413, + 212.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1793.1874411302947, + 210.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1795.785517341648, + 209.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1798.3835935530014, + 207.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1800.9816697643548, + 206.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1803.5797459757082, + 204.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1806.1778221870616, + 203.04560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1808.775898398415, + 201.54560433535565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1811.3739746097683, + 200.04560433535565, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_22-5-42_917609663/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-42_917609663/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be419bbe17cafbf1b8188ddd79b2a9a97a1747b6 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-42_917609663/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1378.2610073898165, + 896.863690747492, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1379.7610073898165, + 894.2656145361386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1381.2610073898165, + 891.6675383247853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1382.7610073898165, + 889.0694621134319, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1384.2610073898165, + 886.4713859020785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1385.7610073898165, + 883.8733096907251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1387.2610073898165, + 881.2752334793718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1388.7610073898165, + 878.6771572680184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1390.2610073898165, + 876.079081056665, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1391.7610073898165, + 873.4810048453116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1393.2610073898165, + 870.8829286339583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1394.7610073898165, + 868.2848524226049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1396.2610073898165, + 865.6867762112515, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1397.7610073898165, + 863.0886999998982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1399.2610073898165, + 860.4906237885448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1400.7610073898165, + 857.8925475771914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1402.2610073898165, + 855.294471365838, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1403.7610073898165, + 852.6963951544847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1405.2610073898165, + 850.0983189431313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1406.7610073898165, + 847.5002427317779, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1408.2610073898165, + 844.9021665204245, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1409.7610073898165, + 842.3040903090712, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "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/high_average/2025-1-9_22-5-5_1111800030/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-5_1111800030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..86006b7089a35f852c0b07cfe2aa07fe23f36f44 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-5-5_1111800030/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1589.8482915699617, + -197.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1589.8482915699617, + -194.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1589.8482915699617, + -191.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1589.8482915699617, + -188.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1589.8482915699617, + -185.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1589.8482915699617, + -182.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1589.8482915699617, + -179.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1589.8482915699617, + -176.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1589.8482915699617, + -173.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1589.8482915699617, + -170.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1589.8482915699617, + -167.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1589.8482915699617, + -164.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1589.8482915699617, + -161.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1589.8482915699617, + -158.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1589.8482915699617, + -155.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1589.8482915699617, + -152.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1589.8482915699617, + -149.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1589.8482915699617, + -146.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1589.8482915699617, + -143.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1589.8482915699617, + -140.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1589.8482915699617, + -137.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1589.8482915699617, + -134.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1589.8482915699617, + -131.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1589.8482915699617, + -128.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1589.8482915699617, + -125.90485429115887, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1589.8482915699617, + -125.90485429115887, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1591.3482915699617, + -123.30677807980555, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1592.8482915699617, + -120.70870186845224, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1594.3482915699617, + -118.11062565709892, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1595.8482915699617, + -115.5125494457456, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1597.3482915699617, + -112.91447323439229, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1598.8482915699617, + -110.31639702303897, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1600.3482915699617, + -107.71832081168566, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1601.8482915699617, + -105.12024460033234, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1603.3482915699617, + -102.52216838897903, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1604.8482915699617, + -99.92409217762571, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1606.3482915699617, + -97.3260159662724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1607.8482915699617, + -94.72793975491908, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "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/high_average/2025-1-9_22-53-2_1145151225/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-53-2_1145151225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1559f5a39023730973bd409b6e3d803f938d610 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-53-2_1145151225/pose.jsonl @@ -0,0 +1,470 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1094.063666970058, + 292.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1094.063666970058, + 289.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1094.063666970058, + 286.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1094.063666970058, + 283.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1094.063666970058, + 280.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1094.063666970058, + 277.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1094.063666970058, + 274.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1094.063666970058, + 271.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1094.063666970058, + 268.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1094.063666970058, + 265.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1094.063666970058, + 262.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1094.063666970058, + 259.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1094.063666970058, + 256.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1094.063666970058, + 253.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1094.063666970058, + 250.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1094.063666970058, + 247.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1094.063666970058, + 244.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1094.063666970058, + 241.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1094.063666970058, + 238.8261546919661, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1094.063666970058, + 238.8261546919661, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1095.563666970058, + 236.2280784806128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1097.063666970058, + 233.63000226925948, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1098.563666970058, + 231.03192605790616, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1100.063666970058, + 228.43384984655285, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1101.563666970058, + 225.83577363519953, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1103.063666970058, + 223.2376974238462, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1104.563666970058, + 220.6396212124929, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1106.063666970058, + 218.04154500113958, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1107.563666970058, + 215.44346878978627, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1109.063666970058, + 212.84539257843295, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1110.563666970058, + 210.24731636707963, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1112.063666970058, + 207.64924015572632, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1113.563666970058, + 205.051163944373, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1115.063666970058, + 202.4530877330197, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1116.563666970058, + 199.85501152166637, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "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/high_average/2025-1-9_22-58-58_922587542/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-58-58_922587542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6952f4f0cd3371fa6b979a8c2032abc4dcbdf4e4 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-58-58_922587542/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1885.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1888.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1891.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1894.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1897.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1900.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1903.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1906.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1909.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1912.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1915.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1918.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1921.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1924.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1927.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1930.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1933.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1936.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1939.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1942.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1945.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1948.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1951.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1954.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1957.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1960.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1963.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1966.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1969.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1972.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1975.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1978.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1978.0522287753786, + 30.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1980.650304986732, + 32.136687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1983.2483811980853, + 33.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1985.8464574094387, + 35.136687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1988.444533620792, + 36.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1991.0426098321454, + 38.136687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1993.6406860434988, + 39.636687871017266, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1993.6406860434988, + 39.636687871017266, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1996.6406860434988, + 39.636687871017266, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "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/high_average/2025-1-9_22-59-40_888482339/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-59-40_888482339/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31946d2a9ecbfac5e5b48a151913cad561344304 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-59-40_888482339/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1844.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1847.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1850.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1853.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1856.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1859.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1862.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1865.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1868.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1868.1981915565038, + -113.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1870.7962677678572, + -111.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1873.3943439792106, + -110.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1875.992420190564, + -108.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1878.5904964019173, + -107.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1881.1885726132707, + -105.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1883.786648824624, + -104.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1886.3847250359775, + -102.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1888.9828012473308, + -101.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1891.5808774586842, + -99.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1894.1789536700376, + -98.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1896.777029881391, + -96.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1899.3751060927443, + -95.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1901.9731823040977, + -93.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1904.571258515451, + -92.42245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1907.1693347268044, + -90.92245163408357, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1909.7674109381578, + -89.42245163408357, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-6-14_298167279/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-6-14_298167279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1ca755ec84ea8c83bb749c12faed4b14be13db5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-6-14_298167279/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 288.9066885611363, + 66.98898334512917, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 290.4066885611363, + 69.58705955648249, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 291.9066885611363, + 72.1851357678358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 293.4066885611363, + 74.78321197918912, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 294.9066885611363, + 77.38128819054243, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 296.4066885611363, + 79.97936440189575, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 297.9066885611363, + 82.57744061324907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 299.4066885611363, + 85.17551682460238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 300.9066885611363, + 87.7735930359557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 302.4066885611363, + 90.37166924730901, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 303.9066885611363, + 92.96974545866233, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 305.4066885611363, + 95.56782167001565, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.9066885611363, + 98.16589788136896, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 308.4066885611363, + 100.76397409272228, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 309.9066885611363, + 103.3620503040756, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 311.4066885611363, + 105.96012651542891, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 312.9066885611363, + 108.55820272678223, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 314.4066885611363, + 111.15627893813554, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 315.9066885611363, + 113.75435514948886, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 317.4066885611363, + 116.35243136084217, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 318.9066885611363, + 118.95050757219549, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 320.4066885611363, + 121.5485837835488, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 321.9066885611363, + 124.14665999490212, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 323.4066885611363, + 126.74473620625544, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 323.4066885611363, + 126.74473620625544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 326.00476477248964, + 128.24473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982947 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 328.60284098384295, + 129.74473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 331.20091719519627, + 131.24473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.7989934065496, + 132.74473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 336.3970696179029, + 134.24473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 338.9951458292562, + 135.74473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 341.59322204060953, + 137.24473620625542, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 344.19129825196285, + 138.74473620625542, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "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/high_average/2025-1-9_22-7-29_16922351/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-7-29_16922351/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e48da4808d9d934cf1105cb6ea24f65bdd35367e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-7-29_16922351/pose.jsonl @@ -0,0 +1,613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 678.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 681.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 684.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 687.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 690.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 693.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 696.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 699.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 702.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 705.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 708.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 711.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 714.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 717.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 720.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 723.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 726.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 726.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 726.8918583265194, + -225.9439283212251, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 728.3918583265194, + -228.5420045325784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 729.8918583265194, + -231.14008074393172, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 731.3918583265194, + -233.73815695528504, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 731.3918583265194, + -233.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 733.9899345378726, + -235.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 736.588010749226, + -236.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 739.1860869605794, + -238.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 741.7841631719327, + -239.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 744.3822393832861, + -241.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 746.9803155946395, + -242.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 749.5783918059929, + -244.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 752.1764680173462, + -245.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 754.7745442286996, + -247.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 757.372620440053, + -248.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 759.9706966514063, + -250.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 762.5687728627597, + -251.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 765.1668490741131, + -253.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 767.7649252854665, + -254.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 770.3630014968198, + -256.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 772.9610777081732, + -257.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 775.5591539195266, + -259.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 778.15723013088, + -260.73815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 780.7553063422333, + -262.23815695528504, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 780.7553063422333, + -262.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + 783.7553063422333, + -262.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + 786.7553063422333, + -262.23815695528504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + 789.7553063422333, + -262.23815695528504, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 808.0, + -268.0, + 5.86358 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-9-24_1666231349/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-9-24_1666231349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94442a39092716190d0daa33351a660ec05a0d49 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_22-9-24_1666231349/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1173.0520177972087, + 811.7046624447713, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1171.5520177972087, + 814.3027386561246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1170.0520177972087, + 816.900814867478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1168.5520177972087, + 819.4988910788313, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1167.0520177972087, + 822.0969672901847, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1165.5520177972087, + 824.6950435015381, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1164.0520177972087, + 827.2931197128914, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1162.5520177972087, + 829.8911959242448, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1161.0520177972087, + 832.4892721355982, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1159.5520177972087, + 835.0873483469516, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1158.0520177972087, + 837.6854245583049, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1156.5520177972087, + 840.2835007696583, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1155.0520177972087, + 842.8815769810117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1153.5520177972087, + 845.479653192365, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1153.5520177972087, + 845.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1150.9539415858553, + 846.979653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1148.355865374502, + 848.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1145.7577891631486, + 849.979653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1143.1597129517952, + 851.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1140.5616367404418, + 852.979653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1137.9635605290885, + 854.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1135.365484317735, + 855.979653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1132.7674081063817, + 857.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1130.1693318950283, + 858.979653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1127.571255683675, + 860.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1124.9731794723216, + 861.979653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1122.3751032609682, + 863.479653192365, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1122.3751032609682, + 863.479653192365, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1120.8751032609682, + 866.0777294037184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1119.3751032609682, + 868.6758056150718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1117.8751032609682, + 871.2738818264252, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-0-50_547407330/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-0-50_547407330/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d657ac3f576939289da2c3b28d0e20da9da87de5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-0-50_547407330/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.10638851911875, + 65.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 196.10638851911875, + 68.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 196.10638851911875, + 71.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 196.10638851911875, + 74.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.10638851911875, + 77.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 196.10638851911875, + 80.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 196.10638851911875, + 83.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 196.10638851911875, + 86.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 196.10638851911875, + 89.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 196.10638851911875, + 92.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 196.10638851911875, + 95.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 196.10638851911875, + 98.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 196.10638851911875, + 101.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 196.10638851911875, + 104.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 196.10638851911875, + 107.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 196.10638851911875, + 110.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 196.10638851911875, + 113.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 196.10638851911875, + 116.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 196.10638851911875, + 119.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 196.10638851911875, + 122.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 196.10638851911875, + 125.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 196.10638851911875, + 128.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 196.10638851911875, + 131.40595644710504, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 196.10638851911875, + 131.40595644710504, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 194.60638851911875, + 134.00403265845836, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 193.10638851911875, + 136.60210886981167, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 191.60638851911875, + 139.200185081165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 190.10638851911875, + 141.7982612925183, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 188.0, + 168.0, + 23.6083 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-1-30_858829294/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-1-30_858829294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08f0638401e195754493df3a0570b0dbe00c3ae1 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-1-30_858829294/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1721.237988058693, + 524.789978145546, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1722.737988058693, + 522.1919019341926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1724.237988058693, + 519.5938257228393, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1725.737988058693, + 516.9957495114859, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1727.237988058693, + 514.3976733001325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1728.737988058693, + 511.7995970887792, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1730.237988058693, + 509.2015208774259, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1731.737988058693, + 506.60344466607256, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1733.237988058693, + 504.00536845471925, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1734.737988058693, + 501.40729224336593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1736.237988058693, + 498.8092160320126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1737.737988058693, + 496.2111398206593, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1739.237988058693, + 493.613063609306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1740.737988058693, + 491.01498739795267, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1742.237988058693, + 488.41691118659935, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1743.737988058693, + 485.81883497524603, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1745.237988058693, + 483.2207587638927, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1746.737988058693, + 480.6226825525394, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1748.237988058693, + 478.0246063411861, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1749.737988058693, + 475.42653012983277, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1749.737988058693, + 475.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1749.737988058693, + 472.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1749.737988058693, + 469.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1749.737988058693, + 466.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1749.737988058693, + 463.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1749.737988058693, + 460.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1749.737988058693, + 457.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1749.737988058693, + 454.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1749.737988058693, + 451.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1749.737988058693, + 448.42653012983277, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1749.737988058693, + 445.42653012983277, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-16-58_234262547/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-16-58_234262547/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..26da8f54986f54e6ef35e404445f4b5199947b21 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-16-58_234262547/pose.jsonl @@ -0,0 +1,561 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1629.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1632.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1635.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1638.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1641.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1644.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1647.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1650.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1653.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1656.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1659.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1662.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1665.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1668.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1671.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1674.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1677.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1680.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1683.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1686.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1689.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1692.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1695.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1698.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1701.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1704.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1707.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1710.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1713.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1716.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1719.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1722.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1725.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1728.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1731.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1734.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1737.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1740.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1743.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1743.8938299803085, + 386.9815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1746.4919061916619, + 388.4815490909858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 1749.0899824030153, + 389.9815490909858, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-17-50_609707131/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-17-50_609707131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8578c7a38a0264191236d2e49c9f716c5ef43b26 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-17-50_609707131/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1938.2755273017915, + 564.0366205664822, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1939.7755273017915, + 566.6346967778354, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1941.2755273017915, + 569.2327729891888, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1942.7755273017915, + 571.8308492005422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1944.2755273017915, + 574.4289254118955, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1945.7755273017915, + 577.0270016232489, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1947.2755273017915, + 579.6250778346023, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1948.7755273017915, + 582.2231540459557, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1950.2755273017915, + 584.821230257309, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1951.7755273017915, + 587.4193064686624, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1953.2755273017915, + 590.0173826800158, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1954.7755273017915, + 592.6154588913691, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1956.2755273017915, + 595.2135351027225, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1957.7755273017915, + 597.8116113140759, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1959.2755273017915, + 600.4096875254293, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1960.7755273017915, + 603.0077637367826, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1962.2755273017915, + 605.605839948136, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1962.2755273017915, + 605.605839948136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1962.2755273017915, + 608.605839948136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1962.2755273017915, + 611.605839948136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1962.2755273017915, + 614.605839948136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1962.2755273017915, + 617.605839948136, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1962.2755273017915, + 620.605839948136, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-49_1637840187/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-49_1637840187/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cafaa37b27107107ad9cfc52f1d8af9a9fb87b06 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-21-49_1637840187/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 536.2470132520725, + -185.52348359393517, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 534.7470132520725, + -182.92540738258185, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 533.2470132520725, + -180.32733117122854, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 531.7470132520725, + -177.72925495987522, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 530.2470132520725, + -175.1311787485219, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 528.7470132520725, + -172.5331025371686, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 527.2470132520725, + -169.93502632581527, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 525.7470132520725, + -167.33695011446196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 524.2470132520725, + -164.73887390310864, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 522.7470132520725, + -162.14079769175532, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 521.2470132520725, + -159.542721480402, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 519.7470132520725, + -156.9446452690487, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 518.2470132520725, + -154.34656905769538, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 516.7470132520725, + -151.74849284634206, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 515.2470132520725, + -149.15041663498874, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 513.7470132520725, + -146.55234042363543, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 512.2470132520725, + -143.9542642122821, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 510.7470132520725, + -141.3561880009288, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 509.2470132520725, + -138.75811178957548, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 509.2470132520725, + -138.75811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 506.6489370407192, + -137.25811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 504.0508608293659, + -135.75811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 501.4527846180126, + -134.25811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 498.85470840665926, + -132.75811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 496.25663219530594, + -131.25811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 493.6585559839526, + -129.75811178957548, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 493.6585559839526, + -129.75811178957548, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 492.1585559839526, + -127.16003557822216, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 490.6585559839526, + -124.56195936686885, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 489.1585559839526, + -121.96388315551553, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 487.6585559839526, + -119.36580694416222, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 486.1585559839526, + -116.7677307328089, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 484.6585559839526, + -114.16965452145558, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_23-24-51_110993018/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-24-51_110993018/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3619ad4cce908382592c9a0b3b51eb522ae3a30 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-24-51_110993018/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1597.9581773879027, + -148.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1595.3601011765493, + -147.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1592.762024965196, + -145.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1590.1639487538425, + -144.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1587.5658725424892, + -142.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1584.9677963311358, + -141.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1582.3697201197824, + -139.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1579.771643908429, + -138.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1577.1735676970757, + -136.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1574.5754914857223, + -135.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1571.977415274369, + -133.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1569.3793390630155, + -132.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1566.7812628516622, + -130.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1564.1831866403088, + -129.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1561.5851104289554, + -127.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1558.987034217602, + -126.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1556.3889580062487, + -124.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1553.7908817948953, + -123.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1551.192805583542, + -121.57442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1548.5947293721886, + -120.07442161572098, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1548.5947293721886, + -120.07442161572098, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1547.0947293721886, + -117.47634540436766, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1545.5947293721886, + -114.87826919301435, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1544.0947293721886, + -112.28019298166103, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1542.5947293721886, + -109.68211677030772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1541.0947293721886, + -107.0840405589544, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1539.5947293721886, + -104.48596434760108, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1538.0947293721886, + -101.88788813624777, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1536.5947293721886, + -99.28981192489445, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1535.0947293721886, + -96.69173571354114, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1533.5947293721886, + -94.09365950218782, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_23-28-39_256804978/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-28-39_256804978/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..045bb0da429f026df5a8606d9c2d3c43629ed92e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-28-39_256804978/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1898.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1895.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1892.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1889.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1886.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1883.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1880.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1877.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1874.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1871.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1868.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1865.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1862.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1859.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1856.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1853.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1850.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1847.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1844.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1841.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1838.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1835.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1832.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1829.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1826.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1823.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1820.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1820.5670311255524, + 411.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1817.968954914199, + 410.3044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1815.3708787028456, + 408.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1812.7728024914923, + 407.3044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1810.1747262801389, + 405.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1807.5766500687855, + 404.3044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1804.9785738574321, + 402.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1802.3804976460788, + 401.3044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1799.7824214347254, + 399.8044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1797.184345223372, + 398.3044643783641, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1794.5862690120186, + 396.8044643783641, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1772.0, + 392.0, + 34.6515 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-30-52_570840516/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-30-52_570840516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80ef4720dcf09e614291b307cafbd1e4f59eae9d --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-30-52_570840516/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1472.0289932699854, + 581.2334332247797, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1473.5289932699854, + 578.6353570134263, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1475.0289932699854, + 576.0372808020729, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1476.5289932699854, + 573.4392045907196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1478.0289932699854, + 570.8411283793662, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1479.5289932699854, + 568.2430521680128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1481.0289932699854, + 565.6449759566594, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1482.5289932699854, + 563.0468997453061, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1484.0289932699854, + 560.4488235339527, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1485.5289932699854, + 557.8507473225993, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1487.0289932699854, + 555.252671111246, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1488.5289932699854, + 552.6545948998926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1490.0289932699854, + 550.0565186885392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1491.5289932699854, + 547.4584424771858, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1493.0289932699854, + 544.8603662658325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1494.5289932699854, + 542.2622900544791, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1496.0289932699854, + 539.6642138431257, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1496.0289932699854, + 539.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1496.0289932699854, + 536.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1496.0289932699854, + 533.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1496.0289932699854, + 530.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1496.0289932699854, + 527.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1496.0289932699854, + 524.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1496.0289932699854, + 521.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1496.0289932699854, + 518.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1496.0289932699854, + 515.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1496.0289932699854, + 512.6642138431257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1496.0289932699854, + 509.6642138431257, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1512.0, + 460.0, + 122.069 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-32-53_1482841197/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-32-53_1482841197/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..319281beac1d1f04114639ca535b1d899f3c0035 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-32-53_1482841197/pose.jsonl @@ -0,0 +1,548 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1894.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1897.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1900.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1903.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1906.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1909.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1912.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1915.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1918.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1921.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1921.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1921.6504169996476, + 42.87637143557695, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1923.1504169996476, + 45.474447646930265, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1924.6504169996476, + 48.07252385828358, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1926.1504169996476, + 50.6706000696369, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1926.1504169996476, + 50.6706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1928.748493211001, + 52.1706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1931.3465694223544, + 53.6706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1933.9446456337078, + 55.1706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1936.5427218450611, + 56.6706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1939.1407980564145, + 58.1706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1941.7388742677679, + 59.6706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1944.3369504791212, + 61.1706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1946.9350266904746, + 62.6706000696369, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1949.533102901828, + 64.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982874 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1952.1311791131814, + 65.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1954.7292553245347, + 67.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1957.327331535888, + 68.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1959.9254077472415, + 70.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1962.5234839585949, + 71.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1965.1215601699482, + 73.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1967.7196363813016, + 74.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1970.317712592655, + 76.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1972.9157888040083, + 77.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1975.5138650153617, + 79.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1978.111941226715, + 80.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1980.7100174380685, + 82.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1983.3080936494218, + 83.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1985.9061698607752, + 85.17060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 1988.5042460721286, + 86.67060006963689, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 1991.102322283482, + 88.17060006963689, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-34-49_1453048498/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-34-49_1453048498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e41debe36daf476e389fe668c6c8db2695548d72 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-34-49_1453048498/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1204.8506327187315, + 841.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1202.2525565073781, + 842.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1199.6544802960248, + 844.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1197.0564040846714, + 845.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1194.458327873318, + 847.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1191.8602516619646, + 848.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1189.2621754506113, + 850.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1186.664099239258, + 851.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1184.0660230279045, + 853.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1181.4679468165511, + 854.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1178.8698706051978, + 856.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1176.2717943938444, + 857.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1173.673718182491, + 859.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1171.0756419711377, + 860.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1168.4775657597843, + 862.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1165.879489548431, + 863.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1163.2814133370775, + 865.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1160.6833371257242, + 866.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1158.0852609143708, + 868.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1155.4871847030174, + 869.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1152.889108491664, + 871.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1150.2910322803107, + 872.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1147.6929560689573, + 874.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1145.094879857604, + 875.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1142.4968036462506, + 877.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1139.8987274348972, + 878.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1137.3006512235438, + 880.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1134.7025750121904, + 881.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1132.104498800837, + 883.4880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1129.5064225894837, + 884.9880819016, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1129.5064225894837, + 884.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1126.5064225894837, + 884.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1123.5064225894837, + 884.9880819016, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1120.5064225894837, + 884.9880819016, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1096.0, + 896.0, + 34.2564 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-35-7_1946710049/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-35-7_1946710049/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2951d01ac53845021ce7dd37f99930861641f64e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-35-7_1946710049/pose.jsonl @@ -0,0 +1,509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1133.580001353276, + 706.2500379978117, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1135.080001353276, + 708.848114209165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1136.580001353276, + 711.4461904205184, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1138.080001353276, + 714.0442666318718, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1139.580001353276, + 716.6423428432252, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1141.080001353276, + 719.2404190545785, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1142.580001353276, + 721.8384952659319, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1144.080001353276, + 724.4365714772853, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1145.580001353276, + 727.0346476886386, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1147.080001353276, + 729.632723899992, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1148.580001353276, + 732.2308001113454, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1150.080001353276, + 734.8288763226988, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1151.580001353276, + 737.4269525340521, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1153.080001353276, + 740.0250287454055, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1154.580001353276, + 742.6231049567589, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1156.080001353276, + 745.2211811681123, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1157.580001353276, + 747.8192573794656, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1159.080001353276, + 750.417333590819, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1160.580001353276, + 753.0154098021724, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1162.080001353276, + 755.6134860135257, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1163.580001353276, + 758.2115622248791, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1165.080001353276, + 760.8096384362325, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1166.580001353276, + 763.4077146475859, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1168.080001353276, + 766.0057908589392, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1169.580001353276, + 768.6038670702926, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1171.080001353276, + 771.201943281646, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1172.580001353276, + 773.8000194929994, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1174.080001353276, + 776.3980957043527, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1175.580001353276, + 778.9961719157061, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1177.080001353276, + 781.5942481270595, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1178.580001353276, + 784.1923243384128, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1180.080001353276, + 786.7904005497662, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1181.580001353276, + 789.3884767611196, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1181.580001353276, + 789.3884767611196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1184.1780775646293, + 790.8884767611196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1186.7761537759827, + 792.3884767611196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1189.374229987336, + 793.8884767611196, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1191.9723061986895, + 795.3884767611196, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1208.0, + 820.0, + 17.114 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-39-51_505185185/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-39-51_505185185/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceff9a9c85f1e7f7da89cd46178e68a76702af73 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-39-51_505185185/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 947.129603801964, + 72.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 947.129603801964, + 69.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 947.129603801964, + 66.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 947.129603801964, + 63.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 947.129603801964, + 60.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 947.129603801964, + 57.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 947.129603801964, + 54.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 947.129603801964, + 51.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 947.129603801964, + 48.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 947.129603801964, + 45.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 947.129603801964, + 42.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 947.129603801964, + 39.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 947.129603801964, + 36.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 947.129603801964, + 33.80287482679154, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 947.129603801964, + 33.80287482679154, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 945.629603801964, + 31.20479861543822, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 944.129603801964, + 28.606722404084906, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 942.629603801964, + 26.00864619273159, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 941.129603801964, + 23.410569981378273, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 939.629603801964, + 20.812493770024957, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_23-46-0_234799752/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-46-0_234799752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ae1c08cf15d2b34a950b08266d0a22cbf4add24 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-46-0_234799752/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1905.304107991039, + 43.57847856344095, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1903.804107991039, + 46.17655477479427, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1902.304107991039, + 48.774630986147585, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1900.804107991039, + 51.3727071975009, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1899.304107991039, + 53.97078340885422, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1897.804107991039, + 56.56885962020753, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1896.304107991039, + 59.16693583156085, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1894.804107991039, + 61.765012042914165, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1893.304107991039, + 64.36308825426748, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1891.804107991039, + 66.9611644656208, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1890.304107991039, + 69.55924067697411, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1888.804107991039, + 72.15731688832743, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1887.304107991039, + 74.75539309968075, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1885.804107991039, + 77.35346931103406, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1884.304107991039, + 79.95154552238738, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1882.804107991039, + 82.5496217337407, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1882.804107991039, + 82.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1882.804107991039, + 85.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1882.804107991039, + 88.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1882.804107991039, + 91.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1882.804107991039, + 94.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1882.804107991039, + 97.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1882.804107991039, + 100.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1882.804107991039, + 103.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1882.804107991039, + 106.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1882.804107991039, + 109.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1882.804107991039, + 112.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1882.804107991039, + 115.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1882.804107991039, + 118.5496217337407, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1882.804107991039, + 121.5496217337407, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "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/high_average/2025-1-9_23-51-13_2026929416/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-51-13_2026929416/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4872edbf4ec69ec4ec24a26630569b347857772e --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-51-13_2026929416/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1747.7628405667067, + 251.53149928609122, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1749.2628405667067, + 248.9334230747379, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1750.7628405667067, + 246.3353468633846, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1752.2628405667067, + 243.73727065203127, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1753.7628405667067, + 241.13919444067795, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1755.2628405667067, + 238.54111822932464, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1755.2628405667067, + 238.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1757.86091677806, + 237.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1760.4589929894134, + 235.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1763.0570692007668, + 234.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1765.6551454121202, + 232.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1768.2532216234736, + 231.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1770.851297834827, + 229.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1773.4493740461803, + 228.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1776.0474502575337, + 226.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1778.645526468887, + 225.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1781.2436026802404, + 223.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1783.8416788915938, + 222.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1786.4397551029472, + 220.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1789.0378313143005, + 219.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1791.635907525654, + 217.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1794.2339837370073, + 216.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1796.8320599483607, + 214.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1799.430136159714, + 213.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1802.0282123710674, + 211.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1804.6262885824208, + 210.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1807.2243647937742, + 208.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1809.8224410051275, + 207.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1812.420517216481, + 205.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1815.0185934278343, + 204.04111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1817.6166696391876, + 202.54111822932464, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1820.214745850541, + 201.04111822932464, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "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/high_average/2025-1-9_23-54-18_80329499/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-54-18_80329499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9ac5ff354bfbd3ad99db4165b1535ca228ac27f --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-54-18_80329499/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1987.233492997027, + 220.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1987.233492997027, + 217.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1987.233492997027, + 214.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1987.233492997027, + 211.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1987.233492997027, + 208.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1987.233492997027, + 205.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1987.233492997027, + 202.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1987.233492997027, + 199.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1987.233492997027, + 196.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1987.233492997027, + 193.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1987.233492997027, + 190.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1987.233492997027, + 187.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1987.233492997027, + 184.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1987.233492997027, + 181.2860523177478, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1987.233492997027, + 181.2860523177478, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1988.733492997027, + 178.68797610639447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1990.233492997027, + 176.08989989504116, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1991.733492997027, + 173.49182368368784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1993.233492997027, + 170.89374747233452, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1994.733492997027, + 168.2956712609812, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1996.233492997027, + 165.6975950496279, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1997.733492997027, + 163.09951883827458, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1999.233492997027, + 160.50144262692126, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1999.233492997027, + 160.50144262692126, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1999.233492997027, + 157.50144262692126, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 2012.0, + 96.0, + 2.4858 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-58-23_2078480869/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-58-23_2078480869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..453e67c0df19176f3eedca43168d4dd2e0b22e32 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-58-23_2078480869/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1884.9428687404106, + 747.4549572635244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1887.9428687404106, + 747.4549572635244, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1887.9428687404106, + 747.4549572635244, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1887.9428687404106, + 747.4549572635244, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1889.4428687404106, + 744.856881052171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1890.9428687404106, + 742.2588048408177, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1892.4428687404106, + 739.6607286294643, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1893.9428687404106, + 737.0626524181109, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1895.4428687404106, + 734.4645762067576, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1896.9428687404106, + 731.8664999954042, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1898.4428687404106, + 729.2684237840508, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1899.9428687404106, + 726.6703475726974, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1901.4428687404106, + 724.0722713613441, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1902.9428687404106, + 721.4741951499907, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1904.4428687404106, + 718.8761189386373, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1905.9428687404106, + 716.278042727284, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1907.4428687404106, + 713.6799665159306, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1908.9428687404106, + 711.0818903045772, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1910.4428687404106, + 708.4838140932238, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1911.9428687404106, + 705.8857378818705, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1913.4428687404106, + 703.2876616705171, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1913.4428687404106, + 703.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1916.040944951764, + 701.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1918.6390211631174, + 700.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1921.2370973744707, + 698.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1923.8351735858241, + 697.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1926.4332497971775, + 695.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1929.0313260085309, + 694.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1931.6294022198842, + 692.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1934.2274784312376, + 691.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1936.825554642591, + 689.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1939.4236308539444, + 688.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1942.0217070652977, + 686.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1944.619783276651, + 685.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 1947.2178594880045, + 683.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 1949.8159356993579, + 682.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 1952.4140119107112, + 680.7876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 1955.0120881220646, + 679.2876616705171, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 1957.610164333418, + 677.7876616705171, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + 660.0, + 105.319 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-6-54_1364180570/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-6-54_1364180570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5c61113800d358aac3d8b6daaf136f4928fb23cd --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-6-54_1364180570/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1009.9399968542247, + -109.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1007.3419206428714, + -108.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1004.743844431518, + -106.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1002.1457682201647, + -105.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 999.5476920088113, + -103.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 996.9496157974579, + -102.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 994.3515395861045, + -100.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 991.7534633747512, + -99.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 989.1553871633978, + -97.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 986.5573109520444, + -96.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 983.959234740691, + -94.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 981.3611585293377, + -93.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 978.7630823179843, + -91.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 976.1650061066309, + -90.45164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 973.5669298952776, + -88.95164728101426, + 17.46431138117525 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 973.5669298952776, + -88.95164728101426, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 972.0669298952776, + -86.35357106966094, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 970.5669298952776, + -83.75549485830763, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 969.0669298952776, + -81.15741864695431, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 967.5669298952776, + -78.559342435601, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 966.0669298952776, + -75.96126622424768, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 964.5669298952776, + -73.36319001289436, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 963.0669298952776, + -70.76511380154105, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 961.5669298952776, + -68.16703759018773, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 960.0669298952776, + -65.56896137883442, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 958.5669298952776, + -62.9708851674811, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 957.0669298952776, + -60.372808956127784, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 955.5669298952776, + -57.77473274477447, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 954.0669298952776, + -55.17665653342115, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 952.5669298952776, + -52.578580322067836, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "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/high_average/2025-1-9_23-7-52_375444584/pose.jsonl b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-7-52_375444584/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fc3cc69a1c61116ff34b489ce89c22307e4bff5 --- /dev/null +++ b/Image/env_airsim_18/astar_data/high_average/2025-1-9_23-7-52_375444584/pose.jsonl @@ -0,0 +1,457 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1856.3197816190361, + -144.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1858.9178578303895, + -142.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1861.5159340417429, + -141.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1864.1140102530962, + -139.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1866.7120864644496, + -138.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1869.310162675803, + -136.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1871.9082388871564, + -135.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1874.5063150985097, + -133.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1877.104391309863, + -132.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1879.7024675212165, + -130.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1882.3005437325698, + -129.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1884.8986199439232, + -127.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1887.4966961552766, + -126.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1890.09477236663, + -124.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1892.6928485779833, + -123.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1895.2909247893367, + -121.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1897.88900100069, + -120.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1900.4870772120435, + -118.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1903.0851534233968, + -117.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1905.6832296347502, + -115.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1908.2813058461036, + -114.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1910.879382057457, + -112.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1913.4774582688103, + -111.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1916.0755344801637, + -109.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 1918.673610691517, + -108.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 1921.2716869028704, + -106.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 1923.8697631142238, + -105.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 1926.4678393255772, + -103.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 1929.0659155369306, + -102.12924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1931.663991748284, + -100.62924629676152, + 17.46431138117525 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 1931.663991748284, + -100.62924629676152, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1933.163991748284, + -98.0311700854082, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 1934.663991748284, + -95.43309387405489, + 17.46431138117525 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 1936.163991748284, + -92.83501766270157, + 17.46431138117525 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 1976.0, + -64.0, + 50.1663 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}