diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-13-37_610594/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-13-37_610594/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee5f27351ae1d2739f93919c5f6ebfbde6b240e4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-13-37_610594/pose.jsonl @@ -0,0 +1,535 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -244.83897088574497, + 58.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -244.83897088574497, + 55.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -244.83897088574497, + 52.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -244.83897088574497, + 49.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -244.83897088574497, + 46.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -244.83897088574497, + 43.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -244.83897088574497, + 40.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -244.83897088574497, + 37.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -244.83897088574497, + 34.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -244.83897088574497, + 31.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -244.83897088574497, + 28.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -244.83897088574497, + 25.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -244.83897088574497, + 22.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -244.83897088574497, + 19.777900192796366, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 109.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 112.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 115.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 118.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 121.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -244.83897088574497, + 16.777900192796366, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -246.33897088574497, + 14.17982398144305, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -247.83897088574497, + 11.581747770089734, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -249.33897088574497, + 8.983671558736418, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -250.83897088574497, + 6.385595347383102, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -252.33897088574497, + 3.787519136029786, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -253.83897088574497, + 1.1894429246764702, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -255.33897088574497, + -1.4086332866768458, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -256.83897088574497, + -4.006709498030162, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -258.33897088574497, + -6.604785709383478, + 121.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 121.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 118.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 115.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 112.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 106.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 103.16609352836659 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -259.83897088574497, + -9.202861920736794, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -259.83897088574497, + -12.202861920736794, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-24-20_547358/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-24-20_547358/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fa7f6f8f5c56e7f635e6519e722bc51c3f683bd --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-01-19_03-24-20_547358/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.31768442607797, + -67.01895347675963, + 103.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 45.31768442607797, + -67.01895347675963, + 106.16609352836659 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.31768442607797, + -67.01895347675963, + 109.16609352836659 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.31768442607797, + -67.01895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.91576063743128, + -68.51895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 50.5138368487846, + -70.01895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 53.111913060137915, + -71.51895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 55.70998927149123, + -73.01895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.30806548284455, + -74.51895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 60.90614169419786, + -76.01895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 63.50421790555118, + -77.51895347675963, + 109.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 66.10229411690449, + -79.01895347675963, + 109.16609352836659 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 66.10229411690449, + -79.01895347675963, + 106.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 108.0, + -104.0, + 98.4565 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-1-55_655858699/pose.jsonl b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-1-55_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c312cb992cb6df945f9a0d51ed7f016492b048cb --- /dev/null +++ b/Image/env_airsim_23/astar_data/high_short/2025-1-9_22-1-55_655858699/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.3770237695892, + 136.37520251537097, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 96.8770237695892, + 133.77712630401766, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 95.3770237695892, + 131.17905009266434, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 93.8770237695892, + 128.58097388131102, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.3770237695892, + 125.98289766995771, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 90.8770237695892, + 123.38482145860439, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.3770237695892, + 120.78674524725108, + 103.16609352836659 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 87.8770237695892, + 118.18866903589776, + 103.16609352836659 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 64.0, + 95.4746 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-35-00_800080/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-35-00_800080/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..825ec72b04f1797d8e9f8fcdece44650a1569781 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-35-00_800080/pose.jsonl @@ -0,0 +1,743 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -229.1970701333873, + 49.13766556196963, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -230.6970701333873, + 46.53958935061631, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.1970701333873, + 43.941513139262995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -233.6970701333873, + 41.34343692790968, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -235.1970701333873, + 38.74536071655636, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -236.6970701333873, + 36.14728450520305, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -238.1970701333873, + 33.54920829384973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -239.6970701333873, + 30.951132082496414, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -241.1970701333873, + 28.3530558711431, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -242.6970701333873, + 25.754979659789782, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -244.1970701333873, + 23.156903448436466, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 72.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 75.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 78.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 81.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 84.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 87.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 90.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 93.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 96.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 99.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 102.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 105.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 108.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 111.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 114.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -245.6970701333873, + 20.55882723708315, + 117.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -247.1970701333873, + 17.960751025729834, + 117.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -247.1970701333873, + 17.960751025729834, + 120.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -248.6970701333873, + 15.362674814376518, + 120.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -250.1970701333873, + 12.764598603023202, + 120.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -251.6970701333873, + 10.166522391669886, + 120.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -253.1970701333873, + 7.56844618031657, + 120.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -254.6970701333873, + 4.970369968963254, + 120.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 120.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 117.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 114.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 111.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 108.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 105.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 102.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 99.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 96.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 93.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 90.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 87.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 84.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -256.1970701333873, + 2.3722937576099383, + 84.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -256.1970701333873, + -0.6277062423900617, + 84.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -256.1970701333873, + -3.6277062423900617, + 84.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 50, + "pos": [ + -256.1970701333873, + -6.627706242390062, + 84.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 51, + "pos": [ + -256.1970701333873, + -9.627706242390062, + 84.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 52, + "pos": [ + -256.1970701333873, + -9.627706242390062, + 81.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 53, + "pos": [ + -256.1970701333873, + -9.627706242390062, + 78.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 54, + "pos": [ + -256.1970701333873, + -9.627706242390062, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 55, + "pos": [ + -256.1970701333873, + -12.627706242390062, + 75.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-35-44_465801/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-35-44_465801/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8131ec5b26a27f619c79382380bada422ef7d4e5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-35-44_465801/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 61.65504632428606, + 209.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.65504632428606, + 206.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 61.65504632428606, + 203.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 61.65504632428606, + 200.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 61.65504632428606, + 197.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 61.65504632428606, + 194.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 61.65504632428606, + 191.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 61.65504632428606, + 188.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 61.65504632428606, + 185.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 61.65504632428606, + 182.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 61.65504632428606, + 179.50173671247114, + 72.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 61.65504632428606, + 179.50173671247114, + 69.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 61.65504632428606, + 179.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 61.65504632428606, + 176.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 61.65504632428606, + 173.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 61.65504632428606, + 170.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 61.65504632428606, + 167.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 61.65504632428606, + 164.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 61.65504632428606, + 161.50173671247114, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 61.65504632428606, + 158.50173671247114, + 66.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 61.65504632428606, + 158.50173671247114, + 69.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 61.65504632428606, + 158.50173671247114, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 61.65504632428606, + 158.50173671247114, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 60.15504632428606, + 155.90366050111783, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-38-21_414875/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-38-21_414875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b37e57c81bc84cd7d617e1c44d5700119cef24e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-38-21_414875/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -152.56134718915098, + 81.52466763395834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 72.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 75.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 78.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 81.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 84.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 87.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 90.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 93.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 96.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -149.56134718915098, + 81.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -146.56134718915098, + 81.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -143.56134718915098, + 81.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -140.56134718915098, + 81.52466763395834, + 99.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -140.56134718915098, + 81.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -137.96327097779766, + 83.02466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -135.36519476644435, + 84.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -132.76711855509103, + 86.02466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -130.16904234373771, + 87.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -127.5709661323844, + 89.02466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -124.97288992103108, + 90.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.37481370967777, + 92.02466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -119.77673749832445, + 93.52466763395834, + 99.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -119.77673749832445, + 93.52466763395834, + 99.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -119.77673749832445, + 93.52466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -117.17866128697113, + 92.02466763395834, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 99.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 96.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 93.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 90.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 87.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 84.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 81.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 78.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 75.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -114.58058507561782, + 90.52466763395834, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -111.58058507561782, + 90.52466763395834, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -108.58058507561782, + 90.52466763395834, + 75.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -108.58058507561782, + 90.52466763395834, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 96.0, + 83.0685 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-40-02_349370/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-40-02_349370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f8dec551e4dcb5435cdaf6b24d2d45acec0bd90 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-40-02_349370/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -258.9009241992345, + -300.18668020022363, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 72.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 75.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 78.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 81.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 84.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 87.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 90.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 93.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -255.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -252.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -249.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -246.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -243.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -240.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -237.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -234.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -231.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -228.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -225.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -222.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -219.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -216.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -213.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -210.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -207.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -204.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -201.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -198.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 96.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 93.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 90.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 87.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 84.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 81.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 78.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 75.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -195.9009241992345, + -300.18668020022363, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -192.9009241992345, + -300.18668020022363, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-41-39_955548/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-41-39_955548/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c8a61ab51066fead8045f3f3112f38da3bb51be --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-41-39_955548/pose.jsonl @@ -0,0 +1,431 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 55.034121816503266, + 226.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 55.034121816503266, + 223.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 55.034121816503266, + 220.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 55.034121816503266, + 217.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 55.034121816503266, + 214.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 55.034121816503266, + 211.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 55.034121816503266, + 208.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 55.034121816503266, + 205.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 55.034121816503266, + 202.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.034121816503266, + 199.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 55.034121816503266, + 196.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 55.034121816503266, + 193.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 55.034121816503266, + 190.59667855586878, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 55.034121816503266, + 190.59667855586878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 56.534121816503266, + 187.99860234451546, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 58.034121816503266, + 185.40052613316215, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 59.534121816503266, + 182.80244992180883, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 61.034121816503266, + 180.2043737104555, + 72.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 61.034121816503266, + 180.2043737104555, + 69.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 61.034121816503266, + 180.2043737104555, + 66.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 61.034121816503266, + 180.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 61.034121816503266, + 177.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 61.034121816503266, + 174.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 61.034121816503266, + 171.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 61.034121816503266, + 168.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 61.034121816503266, + 165.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 61.034121816503266, + 162.2043737104555, + 66.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 61.034121816503266, + 159.2043737104555, + 66.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 61.034121816503266, + 159.2043737104555, + 69.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 61.034121816503266, + 159.2043737104555, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 61.034121816503266, + 159.2043737104555, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 59.534121816503266, + 156.6062974991022, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-42-05_44837/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-42-05_44837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..487d095e3361d1a02e47a20c669534f42c5d948b --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-42-05_44837/pose.jsonl @@ -0,0 +1,522 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 72.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 75.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 78.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 81.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 84.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 87.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 90.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 93.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 96.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 99.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 102.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 105.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 108.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 77.99428827801157, + -161.57768447301197, + 108.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 80.59236448936488, + -160.07768447301197, + 108.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 83.1904407007182, + -158.57768447301197, + 108.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 85.78851691207151, + -157.07768447301197, + 108.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 88.38659312342483, + -155.57768447301197, + 108.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 90.98466933477815, + -154.07768447301197, + 108.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 108.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 105.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 102.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 99.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 96.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 93.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 90.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 87.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 93.58274554613146, + -152.57768447301197, + 87.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 96.58274554613146, + -152.57768447301197, + 87.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 99.58274554613146, + -152.57768447301197, + 87.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 102.58274554613146, + -152.57768447301197, + 87.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 105.58274554613146, + -152.57768447301197, + 87.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 105.58274554613146, + -152.57768447301197, + 84.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 105.58274554613146, + -152.57768447301197, + 81.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 105.58274554613146, + -152.57768447301197, + 78.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 105.58274554613146, + -152.57768447301197, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 108.58274554613146, + -152.57768447301197, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 111.58274554613146, + -152.57768447301197, + 75.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 111.58274554613146, + -152.57768447301197, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-42-36_919445/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-42-36_919445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ede2df05c9548c6c45d6788306272ca8960da073 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-42-36_919445/pose.jsonl @@ -0,0 +1,665 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -171.63872540974074, + 54.77142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -169.04064919838743, + 56.27142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -166.4425729870341, + 57.77142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -163.8444967756808, + 59.27142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -161.24642056432748, + 60.77142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -158.64834435297416, + 62.27142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.05026814162085, + 63.77142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -153.45219193026753, + 65.27142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -150.85411571891422, + 66.77142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -148.2560395075609, + 68.27142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -145.65796329620758, + 69.77142471709024, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -145.65796329620758, + 69.77142471709024, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -144.15796329620758, + 72.36950092844356, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -142.65796329620758, + 74.96757713979687, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 72.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 75.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 78.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 81.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 84.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 87.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 90.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 93.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 96.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -141.15796329620758, + 77.56565335115019, + 96.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.15796329620758, + 80.56565335115019, + 96.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -141.15796329620758, + 80.56565335115019, + 99.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -141.15796329620758, + 80.56565335115019, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -139.65796329620758, + 83.1637295625035, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -138.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -138.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -138.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -135.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -132.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -129.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -126.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -123.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -120.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -117.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 99.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 96.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 93.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 90.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 87.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 84.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 81.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 45, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 78.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 46, + "pos": [ + -114.15796329620758, + 85.76180577385682, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 47, + "pos": [ + -111.15796329620758, + 85.76180577385682, + 75.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 48, + "pos": [ + -108.15796329620758, + 85.76180577385682, + 75.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 49, + "pos": [ + -108.15796329620758, + 85.76180577385682, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 96.0, + 83.0685 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-43-15_767724/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-43-15_767724/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..956632ff9d6017e1e796e99f0a653731067acde9 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-01-19_01-43-15_767724/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -322.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -319.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -316.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -313.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -310.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -307.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -304.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -301.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -298.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -295.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -292.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -289.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -286.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -283.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -280.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -277.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -277.3071536847233, + -299.73151123067873, + 69.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -277.3071536847233, + -299.73151123067873, + 66.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -277.3071536847233, + -299.73151123067873, + 63.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -274.3071536847233, + -299.73151123067873, + 63.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -271.3071536847233, + -299.73151123067873, + 63.24787185243571 + ], + "type": "go down", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -271.3071536847233, + -299.73151123067873, + 60.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -268.3071536847233, + -299.73151123067873, + 60.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -265.3071536847233, + -299.73151123067873, + 60.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -262.3071536847233, + -299.73151123067873, + 60.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -262.3071536847233, + -299.73151123067873, + 63.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -262.3071536847233, + -299.73151123067873, + 66.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -262.3071536847233, + -299.73151123067873, + 69.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -259.3071536847233, + -299.73151123067873, + 69.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -256.3071536847233, + -299.73151123067873, + 69.24787185243571 + ], + "type": "go up", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -256.3071536847233, + -299.73151123067873, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-21-15_1714636915/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-21-15_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64078e041793f7c028eccf23dd5e03e602c64f1a --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-21-15_1714636915/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 273.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 276.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 279.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 285.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 285.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 285.5827495059297, + -196.29264328527876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 287.0827495059297, + -193.69456707392544, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 288.5827495059297, + -191.09649086257213, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 290.0827495059297, + -188.4984146512188, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 291.5827495059297, + -185.9003384398655, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 293.0827495059297, + -183.30226222851218, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 294.5827495059297, + -180.70418601715886, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 296.0827495059297, + -178.10610980580554, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 352.0, + -136.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-21-25_1957747793/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-21-25_1957747793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f940c41cf9d0e7973be30933012db3946ab1b131 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-21-25_1957747793/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -104.85466818022869, + 158.8201497239479, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -103.35466818022869, + 156.2220735125946, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -101.85466818022869, + 153.62399730124127, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.35466818022869, + 151.02592108988796, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -98.85466818022869, + 148.42784487853464, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -97.35466818022869, + 145.82976866718133, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -95.85466818022869, + 143.231692455828, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -95.85466818022869, + 143.231692455828, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -95.85466818022869, + 140.231692455828, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.85466818022869, + 137.231692455828, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -95.85466818022869, + 134.231692455828, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -95.85466818022869, + 131.231692455828, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 96.0, + 83.0685 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-22-9_596516649/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-22-9_596516649/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de06b392a6b17747cb7632ee8f7cccc248fa07a7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-22-9_596516649/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -149.79917999927568, + 158.90127093684868, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -148.29917999927568, + 156.30319472549536, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -146.79917999927568, + 153.70511851414204, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -145.29917999927568, + 151.10704230278873, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -143.79917999927568, + 148.5089660914354, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -142.29917999927568, + 145.9108898800821, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -140.79917999927568, + 143.31281366872878, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -140.79917999927568, + 143.31281366872878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -138.20110378792236, + 141.81281366872878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -135.60302757656905, + 140.31281366872878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -133.00495136521573, + 138.81281366872878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -130.40687515386242, + 137.31281366872878, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -127.8087989425091, + 135.81281366872878, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 96.0, + 83.0685 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-23-29_1967513926/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-23-29_1967513926/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de005f0fbedd60a96006f40ba194d7f18a69094a --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-23-29_1967513926/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -108.75893974310766, + 160.59639479586173, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -110.25893974310766, + 157.9983185845084, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -111.75893974310766, + 155.4002423731551, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -113.25893974310766, + 152.80216616180178, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -114.75893974310766, + 150.20408995044846, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -116.25893974310766, + 147.60601373909515, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -117.75893974310766, + 145.00793752774183, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -119.25893974310766, + 142.40986131638851, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -120.75893974310766, + 139.8117851050352, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -122.25893974310766, + 137.21370889368188, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -123.75893974310766, + 134.61563268232857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -125.25893974310766, + 132.01755647097525, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -126.75893974310766, + 129.41948025962193, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -126.75893974310766, + 129.41948025962193, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -126.75893974310766, + 126.41948025962193, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-21_1303455736/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-21_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14f6a0792f7e4000ef3e039e358c10fa765b2e4f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-21_1303455736/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 242.89280919348386, + 162.55322406428434, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 244.39280919348386, + 159.95514785293102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 245.89280919348386, + 157.3570716415777, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 247.39280919348386, + 154.7589954302244, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 248.89280919348386, + 152.16091921887107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 250.39280919348386, + 149.56284300751776, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 250.39280919348386, + 149.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 252.99088540483717, + 148.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 255.5889616161905, + 146.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 258.1870378275438, + 145.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 260.7851140388971, + 143.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 263.38319025025044, + 142.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 265.98126646160375, + 140.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 268.57934267295707, + 139.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 271.1774188843104, + 137.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 273.7754950956637, + 136.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 276.373571307017, + 134.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 278.97164751837033, + 133.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 281.56972372972365, + 131.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 284.16779994107696, + 130.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 286.7658761524303, + 128.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 289.3639523637836, + 127.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 291.9620285751369, + 125.56284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 294.56010478649023, + 124.06284300751776, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 297.15818099784354, + 122.56284300751776, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 312.0, + 116.0, + 63.137 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-36_35005211/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-36_35005211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75b19de8771459e67a667f45d1b7fb4ab20c7156 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-36_35005211/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -192.10303289190213, + -219.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -192.10303289190213, + -216.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.10303289190213, + -213.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -192.10303289190213, + -210.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -192.10303289190213, + -207.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -192.10303289190213, + -204.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -192.10303289190213, + -201.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -192.10303289190213, + -198.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -192.10303289190213, + -195.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -192.10303289190213, + -192.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -192.10303289190213, + -189.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -192.10303289190213, + -186.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.10303289190213, + -183.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -192.10303289190213, + -180.3188343032077, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -192.10303289190213, + -180.3188343032077, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -192.10303289190213, + -180.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -189.50495668054882, + -178.8188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -186.9068804691955, + -177.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -184.30880425784218, + -175.8188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -181.71072804648887, + -174.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -179.11265183513555, + -172.8188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -176.51457562378224, + -171.3188343032077, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -173.91649941242892, + -169.8188343032077, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -144.0, + 64.9099 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-50_521595368/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-50_521595368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5073f2f3b9a17f69608b176ab028dd3610bbfe3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-24-50_521595368/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -105.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -96.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -93.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -90.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -87.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -84.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -81.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -78.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -75.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -69.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -66.4411712794602, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -63.44117127946021, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -60.44117127946021, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -57.44117127946021, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -54.44117127946021, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -51.44117127946021, + -286.4238823226346, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -48.44117127946021, + -286.4238823226346, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -32.0, + -284.0, + 73.6815 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-25-22_336465782/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-25-22_336465782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f704629116635ca74e218727a636b0ad8df1fea --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-25-22_336465782/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -173.71787599117326, + -116.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -176.31595220252657, + -114.58060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.9140284138799, + -113.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -181.5121046252332, + -111.58060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -184.11018083658652, + -110.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -186.70825704793984, + -108.58060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -189.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -189.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -192.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -195.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -201.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -204.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -210.30633325929315, + -107.08060050411014, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-25-54_233665123/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-25-54_233665123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34106efc1f29bbcaaa4dc4e62d92853a4509d226 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-25-54_233665123/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 250.32928638942874, + 40.220417732340564, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 248.82928638942874, + 42.81849394369388, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 247.32928638942874, + 45.4165701550472, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 245.82928638942874, + 48.01464636640051, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 244.32928638942874, + 50.61272257775383, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 242.82928638942874, + 53.210798789107145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 241.32928638942874, + 55.80887500046046, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 239.82928638942874, + 58.40695121181378, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 238.32928638942874, + 61.00502742316709, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-28-23_1131176229/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-28-23_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17211b4110f39385e688799fa537609a5c929b2f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-28-23_1131176229/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -268.2960952144208, + -218.06571562550823, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -266.7960952144208, + -220.66379183686155, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -265.2960952144208, + -223.26186804821486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -263.7960952144208, + -225.85994425956818, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -262.2960952144208, + -228.4580204709215, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -260.7960952144208, + -231.0560966822748, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -259.2960952144208, + -233.65417289362813, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -257.7960952144208, + -236.25224910498144, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -256.2960952144208, + -238.85032531633476, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -254.7960952144208, + -241.44840152768808, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -253.2960952144208, + -244.0464777390414, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -251.7960952144208, + -246.6445539503947, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -250.2960952144208, + -249.24263016174802, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -248.7960952144208, + -251.84070637310134, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -247.2960952144208, + -254.43878258445466, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -245.7960952144208, + -257.036858795808, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -244.2960952144208, + -259.6349350071613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -242.7960952144208, + -262.2330112185146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -241.2960952144208, + -264.8310874298679, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -239.7960952144208, + -267.42916364122124, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -239.7960952144208, + -267.42916364122124, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -239.7960952144208, + -270.42916364122124, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -239.7960952144208, + -273.42916364122124, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-28-7_628175011/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-28-7_628175011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cd1738b2271187e547193423bd7d335b05cd398 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-28-7_628175011/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 208.67594436179047, + -280.95207299595893, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 207.17594436179047, + -278.3539967846056, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 205.67594436179047, + -275.7559205732523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 204.17594436179047, + -273.157844361899, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 202.67594436179047, + -270.55976815054566, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 201.17594436179047, + -267.96169193919235, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 199.67594436179047, + -265.36361572783903, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 198.17594436179047, + -262.7655395164857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 196.67594436179047, + -260.1674633051324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 195.17594436179047, + -257.5693870937791, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 195.17594436179047, + -257.5693870937791, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 192.57786815043715, + -256.0693870937791, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-29-39_756898537/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-29-39_756898537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70bb34463e7c7ec1b84ee14d46383083db7bf914 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-29-39_756898537/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -136.22339917962967, + 166.61311244681755, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -134.72339917962967, + 164.01503623546424, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -133.22339917962967, + 161.41696002411092, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -131.72339917962967, + 158.8188838127576, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -130.22339917962967, + 156.2208076014043, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -128.72339917962967, + 153.62273139005097, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -127.22339917962967, + 151.02465517869766, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -125.72339917962967, + 148.42657896734434, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.22339917962967, + 145.82850275599102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -122.72339917962967, + 143.2304265446377, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 96.0, + 83.0685 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-29-3_1914544919/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-29-3_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a25dbc5ead55ce7c37c5341d41e24b5af62b4420 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-29-3_1914544919/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 168.47130760734103, + -268.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 171.47130760734103, + -268.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 174.47130760734103, + -268.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 177.47130760734103, + -268.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 180.47130760734103, + -268.81082869959863, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 180.47130760734103, + -268.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 183.06938381869435, + -267.31082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 185.66746003004766, + -265.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 188.26553624140098, + -264.31082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 190.8636124527543, + -262.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 193.4616886641076, + -261.31082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 196.05976487546093, + -259.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 198.65784108681424, + -258.31082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 201.25591729816756, + -256.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 203.85399350952088, + -255.31082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.4520697208742, + -253.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 209.0501459322275, + -252.31082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 211.64822214358082, + -250.81082869959863, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 211.64822214358082, + -250.81082869959863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 213.14822214358082, + -248.21275248824531, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 214.64822214358082, + -245.614676276892, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 216.14822214358082, + -243.01660006553868, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 217.64822214358082, + -240.41852385418537, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-17_2038664370/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-17_2038664370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..225ab381be32fd4214b3f35deb2cbe39489cb349 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-17_2038664370/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 258.20533640776466, + 42.02340376006654, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 256.70533640776466, + 44.62147997141986, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 255.20533640776466, + 47.219556182773175, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 253.70533640776466, + 49.81763239412649, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 252.20533640776466, + 52.41570860547981, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 250.70533640776466, + 55.01378481683312, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 249.20533640776466, + 57.61186102818644, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 247.70533640776466, + 60.209937239539755, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 246.20533640776466, + 62.80801345089307, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 244.70533640776466, + 65.40608966224639, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 243.20533640776466, + 68.0041658735997, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-40_184803526/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-40_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0bf4ed9bca3777a3cab5ecf432694f4b532b41c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-40_184803526/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -67.60706880067241, + -235.12975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -65.00899258931909, + -233.62975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -62.410916377965776, + -232.12975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -59.81284016661246, + -230.62975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.214763955259144, + -229.12975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -54.61668774390583, + -227.62975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -52.01861153255251, + -226.12975761342972, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -49.420535321199196, + -224.62975761342972, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -180.0, + 74.9412 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-9_149798315/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-9_149798315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcb391656f707bae0d71d7c47d77a308eae9435f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-30-9_149798315/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 48.896569165163456, + -231.15112534367535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 46.29849295381014, + -232.65112534367535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.700416742456824, + -234.15112534367535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 41.10234053110351, + -235.65112534367535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 38.50426431975019, + -237.15112534367535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 35.906188108396876, + -238.65112534367535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 33.30811189704356, + -240.15112534367535, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -32.0, + -284.0, + 73.6815 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-13_1911759956/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-13_1911759956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8917e19fc6ee56ef569cf44bbd143a59e0fedca --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-13_1911759956/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -63.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -60.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -57.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -51.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -48.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -45.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -42.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -39.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -36.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.35715607013964, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -30.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -27.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -24.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -21.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -18.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -18.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -18.357156070139638, + 231.4725213862233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -16.857156070139638, + 228.87444517486998, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -15.357156070139638, + 226.27636896351666, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -13.857156070139638, + 223.67829275216334, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -12.357156070139638, + 221.08021654081003, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -10.857156070139638, + 218.4821403294567, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -9.357156070139638, + 215.8840641181034, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -7.857156070139638, + 213.28598790675008, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -7.857156070139638, + 213.28598790675008, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -5.259079858786322, + 211.78598790675008, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -2.661003647433006, + 210.28598790675008, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -0.06292743607968987, + 208.78598790675008, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 2.535148775273626, + 207.28598790675008, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 24.0, + 200.0, + 74.3678 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-47_137806862/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-47_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..807dc33767636d4ea40f294b837d1facdbf2af9f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-47_137806862/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 193.90807212410422, + -288.97610077366676, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 195.40807212410422, + -286.37802456231344, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 196.90807212410422, + -283.7799483509601, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 198.40807212410422, + -281.1818721396068, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 199.90807212410422, + -278.5837959282535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 201.40807212410422, + -275.9857197169002, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 202.90807212410422, + -273.38764350554686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 204.40807212410422, + -270.78956729419355, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 205.90807212410422, + -268.19149108284023, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 207.40807212410422, + -265.5934148714869, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 208.90807212410422, + -262.9953386601336, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 210.40807212410422, + -260.3972624487803, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 210.40807212410422, + -260.3972624487803, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 213.00614833545754, + -258.8972624487803, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 215.60422454681085, + -257.3972624487803, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 218.20230075816417, + -255.89726244878028, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 244.0, + -224.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-4_1424268980/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-4_1424268980/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7834619a70af9e0800f6c318e8e988ff0848c62c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-4_1424268980/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -124.05483531304063, + -162.83768582759686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -126.65291152439394, + -164.33768582759686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -129.25098773574726, + -165.83768582759686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -131.84906394710057, + -167.33768582759686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -134.4471401584539, + -168.83768582759686, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -134.4471401584539, + -168.83768582759686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -135.9471401584539, + -171.43576203895017, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -137.4471401584539, + -174.0338382503035, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -138.9471401584539, + -176.6319144616568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -140.4471401584539, + -179.22999067301012, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-58_42999170/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-58_42999170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1874ed391125eac07e80c04e54585b33796ea946 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-31-58_42999170/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -394.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -391.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -388.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -385.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -382.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -379.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -376.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -373.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -370.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -367.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -364.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -361.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -358.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -355.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -352.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -349.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -346.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -343.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -340.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -337.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -334.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -334.1160859802325, + -198.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -331.5180097688792, + -199.9993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -328.9199335575259, + -201.4993293762366, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -326.3218573461726, + -202.9993293762366, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-33-29_572660336/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-33-29_572660336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..91df56a89003c9fd1083b4d83ce674e6c436903f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-33-29_572660336/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.19335353300261, + -87.15803240103457, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 123.19335353300261, + -87.15803240103457, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.19335353300261, + -87.15803240103457, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 123.19335353300261, + -87.15803240103457, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 124.69335353300261, + -89.75610861238789, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 126.19335353300261, + -92.3541848237412, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 127.69335353300261, + -94.95226103509452, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 129.1933535330026, + -97.55033724644784, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.6933535330026, + -100.14841345780115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 132.1933535330026, + -102.74648966915447, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 132.1933535330026, + -102.74648966915447, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 132.1933535330026, + -105.74648966915447, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 132.1933535330026, + -108.74648966915447, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 132.1933535330026, + -111.74648966915447, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 132.1933535330026, + -114.74648966915447, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 132.1933535330026, + -117.74648966915447, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-34-37_1433925857/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-34-37_1433925857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9f0f0a1ece238be0256eb4ec72410e17f1cb4cc --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-34-37_1433925857/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -342.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -339.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -336.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -333.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -330.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -327.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -324.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -321.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -321.73887687031913, + -15.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -319.1408006589658, + -16.743823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -316.5427244476125, + -18.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -313.9446482362592, + -19.743823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -311.34657202490587, + -21.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -308.74849581355255, + -22.743823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -306.15041960219924, + -24.243823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -303.5523433908459, + -25.743823844689615, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -303.5523433908459, + -25.743823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -300.5523433908459, + -25.743823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -297.5523433908459, + -25.743823844689615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -294.5523433908459, + -25.743823844689615, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-36-34_1585990364/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-36-34_1585990364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..472d1f9e7b1a1cfd0b681fe1109d066fadcc2013 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-36-34_1585990364/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 274.7028232943777, + 58.14687528377867, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 272.1047470830244, + 59.64687528377867, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 269.5066708716711, + 61.14687528377867, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 266.90859466031776, + 62.64687528377867, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 264.31051844896444, + 64.14687528377867, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 264.31051844896444, + 64.14687528377867, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 262.81051844896444, + 66.74495149513199, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.31051844896444, + 69.3430277064853, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 259.81051844896444, + 71.94110391783862, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 258.31051844896444, + 74.53918012919193, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 256.81051844896444, + 77.13725634054525, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 255.31051844896444, + 79.73533255189857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 253.81051844896444, + 82.33340876325188, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 253.81051844896444, + 82.33340876325188, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 251.21244223761113, + 83.83340876325188, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 248.6143660262578, + 85.33340876325188, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 246.0162898149045, + 86.83340876325188, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 243.41821360355118, + 88.33340876325188, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-36-46_1374344043/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-36-46_1374344043/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62ccd6a4e3361ea6896b8f20cf41072f24f1212a --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-36-46_1374344043/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.30752439930234, + 197.1202537049006, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 242.80752439930234, + 194.52217749354728, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 241.30752439930234, + 191.92410128219396, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 239.80752439930234, + 189.32602507084064, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 238.30752439930234, + 186.72794885948733, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 236.80752439930234, + 184.129872648134, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 235.30752439930234, + 181.5317964367807, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 235.30752439930234, + 181.5317964367807, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 235.30752439930234, + 178.5317964367807, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 235.30752439930234, + 175.5317964367807, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 235.30752439930234, + 172.5317964367807, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-37-28_945117276/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-37-28_945117276/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ba22e24f5638ebdc00f0fb1fa755d1174efc833 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-37-28_945117276/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 41.5407562637, + -146.8430172962381, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 43.0407562637, + -149.4410935075914, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 44.5407562637, + -152.03916971894472, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 46.0407562637, + -154.63724593029804, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.5407562637, + -157.23532214165135, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.0407562637, + -159.83339835300467, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 50.5407562637, + -162.43147456435798, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 52.0407562637, + -165.0295507757113, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 53.5407562637, + -167.62762698706462, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 55.0407562637, + -170.22570319841793, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 56.5407562637, + -172.82377940977125, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 58.0407562637, + -175.42185562112456, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 58.0407562637, + -175.42185562112456, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 60.63883247505331, + -176.92185562112456, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 63.23690868640663, + -178.42185562112456, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 65.83498489775994, + -179.92185562112456, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 68.43306110911325, + -181.42185562112456, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 71.03113732046657, + -182.92185562112456, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 73.62921353181989, + -184.42185562112456, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-37-40_1889947178/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-37-40_1889947178/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec1bed1ff8f07be11cc52291ea2fd9448f53b489 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-37-40_1889947178/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.06325553008224, + 163.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 246.66133174143556, + 162.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 249.25940795278888, + 160.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 251.8574841641422, + 159.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 254.4555603754955, + 157.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 257.0536365868488, + 156.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.65171279820214, + 154.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 262.24978900955546, + 153.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 264.8478652209088, + 151.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.4459414322621, + 150.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 270.0440176436154, + 148.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 272.6420938549687, + 147.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 275.24017006632204, + 145.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 277.83824627767535, + 144.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 280.43632248902867, + 142.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 283.034398700382, + 141.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.6324749117353, + 139.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.2305511230886, + 138.3987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 290.82862733444193, + 136.8987641295837, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 290.82862733444193, + 136.8987641295837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 292.32862733444193, + 134.30068791823038, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 293.82862733444193, + 131.70261170687706, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 295.32862733444193, + 129.10453549552375, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 296.82862733444193, + 126.50645928417043, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 312.0, + 116.0, + 63.137 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-38-50_1474612399/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-38-50_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55500386dff74500971a355e72132bcdbe4f2a8f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-38-50_1474612399/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.10498018018717, + -155.74238693141672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 99.50690396883385, + -157.24238693141672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 96.90882775748054, + -158.74238693141672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.31075154612722, + -160.24238693141672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 91.7126753347739, + -161.74238693141672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.11459912342059, + -163.24238693141672, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.11459912342059, + -163.24238693141672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 87.61459912342059, + -165.84046314277003, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.11459912342059, + -168.43853935412335, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.11459912342059, + -168.43853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 83.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 83.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 80.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 77.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 74.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 71.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 68.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 65.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 62.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 59.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 56.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 53.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 50.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 47.51652291206727, + -169.93853935412335, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -180.0, + 74.9412 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-40-49_1749698586/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-40-49_1749698586/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f2b3e1160d7b205f1a7d2e0f9db17dcf46e56e1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-40-49_1749698586/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 138.8505752139335, + -250.82510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 136.25249900258018, + -249.32510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 133.65442279122686, + -247.82510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 131.05634657987355, + -246.32510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 128.45827036852023, + -244.82510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 125.86019415716692, + -243.32510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 123.2621179458136, + -241.82510296676554, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 123.2621179458136, + -241.82510296676554, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 121.7621179458136, + -239.22702675541223, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 120.2621179458136, + -236.6289505440589, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 118.7621179458136, + -234.0308743327056, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 117.2621179458136, + -231.43279812135228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 115.7621179458136, + -228.83472190999896, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 114.2621179458136, + -226.23664569864565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 112.7621179458136, + -223.63856948729233, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 112.7621179458136, + -223.63856948729233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 110.16404173446028, + -222.13856948729233, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-40-7_943947739/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-40-7_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d90d3e6068f923550fac09ca13e4b2fa25ef5fa --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-40-7_943947739/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 77.87929454495332, + -131.2224200230571, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 79.37929454495332, + -128.6243438117038, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 80.87929454495332, + -126.02626760035048, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 80.87929454495332, + -126.02626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.47737075630664, + -124.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.07544696765996, + -123.02626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 88.67352317901327, + -121.52626760035048, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.67352317901327, + -121.52626760035048, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 88.67352317901327, + -121.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 88.67352317901327, + -118.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 88.67352317901327, + -115.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 88.67352317901327, + -112.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 88.67352317901327, + -109.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.67352317901327, + -106.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 88.67352317901327, + -103.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 88.67352317901327, + -100.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 88.67352317901327, + -97.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 88.67352317901327, + -94.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 88.67352317901327, + -91.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 88.67352317901327, + -88.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 88.67352317901327, + -85.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 88.67352317901327, + -82.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 88.67352317901327, + -79.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 88.67352317901327, + -76.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 88.67352317901327, + -73.52626760035048, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 88.67352317901327, + -73.52626760035048, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 88.67352317901327, + -73.52626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 91.27159939036659, + -72.02626760035048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 93.8696756017199, + -70.52626760035048, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-17_1956297539/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-17_1956297539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2ea633d3b4c92c17d20d82c6e0b1a57945b09b3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-17_1956297539/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 182.84481789005184, + -101.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 180.24674167869853, + -99.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.6486654673452, + -98.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 175.0505892559919, + -96.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 172.45251304463858, + -95.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 169.85443683328526, + -93.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 167.25636062193195, + -92.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 164.65828441057863, + -90.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 162.06020819922531, + -89.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 159.462131987872, + -87.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 156.86405577651868, + -86.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.26597956516537, + -84.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 151.66790335381205, + -83.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 149.06982714245873, + -81.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 146.47175093110542, + -80.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 143.8736747197521, + -78.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 141.2755985083988, + -77.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 138.67752229704547, + -75.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 136.07944608569215, + -74.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 133.48136987433884, + -72.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.88329366298552, + -71.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 128.2852174516322, + -69.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 125.68714124027889, + -68.39058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 123.08906502892557, + -66.89058045558471, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 123.08906502892557, + -66.89058045558471, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 121.58906502892557, + -64.2925042442314, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-1_1469348094/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-1_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..399b9b949c0d3b77242de53421463a9014ee1114 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-1_1469348094/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 250.82877746439743, + 192.21128233268354, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 252.32877746439743, + 189.61320612133022, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 253.82877746439743, + 187.0151299099769, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 255.32877746439743, + 184.4170536986236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 256.82877746439743, + 181.81897748727027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 258.32877746439743, + 179.22090127591696, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.82877746439743, + 176.62282506456364, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.32877746439743, + 174.02474885321033, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 262.82877746439743, + 171.426672641857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 264.32877746439743, + 168.8285964305037, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 265.82877746439743, + 166.23052021915038, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 267.32877746439743, + 163.63244400779706, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 268.82877746439743, + 161.03436779644375, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 270.32877746439743, + 158.43629158509043, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 271.82877746439743, + 155.8382153737371, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 273.32877746439743, + 153.2401391623838, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 274.82877746439743, + 150.64206295103048, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 276.32877746439743, + 148.04398673967717, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 277.82877746439743, + 145.44591052832385, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 277.82877746439743, + 145.44591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 280.42685367575075, + 143.94591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.02492988710407, + 142.44591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 285.6230060984574, + 140.94591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 288.2210823098107, + 139.44591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 290.819158521164, + 137.94591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 293.41723473251733, + 136.44591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 296.01531094387065, + 134.94591052832385, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 298.61338715522396, + 133.44591052832385, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 312.0, + 116.0, + 63.137 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-32_1036140795/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-32_1036140795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..542827ca9dd1babae25322aa52d0009922c1e348 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-32_1036140795/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 84.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 81.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 78.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 75.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 72.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 69.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 66.70310950700394, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 63.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 60.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 57.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 54.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 51.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 48.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.703109507003944, + -178.2751763315721, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -180.0, + 74.9412 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-43_463480570/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-43_463480570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..013d204490a674da192273744037901ac6fa7788 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-41-43_463480570/pose.jsonl @@ -0,0 +1,418 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 60.90352396925612, + -130.37157512180272, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 59.40352396925612, + -132.96965133315604, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 57.90352396925612, + -135.56772754450935, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 57.90352396925612, + -135.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 55.305447757902805, + -137.06772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 52.70737154654949, + -138.56772754450935, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 52.70737154654949, + -138.56772754450935, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 52.70737154654949, + -138.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948968 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.70737154654949, + -141.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 52.70737154654949, + -144.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 52.70737154654949, + -147.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 52.70737154654949, + -150.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 52.70737154654949, + -153.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 52.70737154654949, + -156.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 52.70737154654949, + -159.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 52.70737154654949, + -162.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 52.70737154654949, + -165.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 52.70737154654949, + -168.56772754450935, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 52.70737154654949, + -168.56772754450935, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 52.70737154654949, + -168.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 55.305447757902805, + -170.06772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 57.90352396925612, + -171.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 60.50160018060944, + -173.06772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 63.09967639196275, + -174.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.69775260331608, + -176.06772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982977 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 68.29582881466939, + -177.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 70.89390502602271, + -179.06772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 73.49198123737602, + -180.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 76.09005744872934, + -182.06772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 78.68813366008266, + -183.56772754450935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 81.28620987143597, + -185.06772754450935, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-42-0_2040651434/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-42-0_2040651434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d9ecdbec5bfa7fd07b6c45bbd132a9e4fab9c4f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-42-0_2040651434/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -72.42730851268118, + -289.3589999093159, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -70.92730851268118, + -291.9570761206692, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -69.42730851268118, + -294.55515233202254, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -67.92730851268118, + -297.15322854337586, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -66.42730851268118, + -299.7513047547292, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -352.0, + 73.6816 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-43-1_1376710097/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-43-1_1376710097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..767842cd23fa3c0f502698b3fa9dd3513aca56ae --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-43-1_1376710097/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 99.41139501314078, + 121.44974338935154, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.91139501314078, + 118.85166717799822, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 96.41139501314078, + 116.25359096664491, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.91139501314078, + 113.65551475529159, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 93.41139501314078, + 111.05743854393828, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.91139501314078, + 108.45936233258496, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.41139501314078, + 105.86128612123164, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.91139501314078, + 103.26320990987833, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 88.91139501314078, + 103.26320990987833, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 86.31331880178746, + 101.76320990987833, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 83.71524259043414, + 100.26320990987833, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 81.11716637908083, + 98.76320990987833, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 64.0, + 95.4746 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-43-50_1687926652/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-43-50_1687926652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95fbd3a1170d331e23e6463e300523894fb12d90 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-43-50_1687926652/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -310.7973425489272, + -257.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -307.7973425489272, + -257.7828168006565, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -307.7973425489272, + -257.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -305.1992663375739, + -256.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -302.60119012622056, + -254.78281680065652, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -300.00311391486724, + -253.28281680065652, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -297.4050377035139, + -251.78281680065652, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -297.4050377035139, + -251.78281680065652, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -297.4050377035139, + -251.78281680065652, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -294.8069614921606, + -253.28281680065652, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -292.2088852808073, + -254.78281680065652, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -289.610809069454, + -256.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -287.01273285810066, + -257.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -284.41465664674735, + -259.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -281.81658043539403, + -260.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -279.2185042240407, + -262.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -276.6204280126874, + -263.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -274.0223518013341, + -265.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -271.42427558998077, + -266.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -268.82619937862745, + -268.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -266.22812316727413, + -269.7828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -263.6300469559208, + -271.2828168006565, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -263.6300469559208, + -271.2828168006565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -262.1300469559208, + -273.88089301200984, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -260.6300469559208, + -276.47896922336315, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -259.1300469559208, + -279.07704543471647, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -257.6300469559208, + -281.6751216460698, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -256.1300469559208, + -284.2731978574231, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-45-50_221558440/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-45-50_221558440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..380c89865fc2e2341186cda82461fe443d33c302 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-45-50_221558440/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -187.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -190.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -193.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -196.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -199.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -202.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -202.7132016629575, + -110.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -205.3112778743108, + -109.35365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -207.90935408566412, + -107.85365447340365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -210.50743029701744, + -106.35365447340365, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-45-59_270744729/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-45-59_270744729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9742cb57de876d19a2b9ab73a680cf7bc2000c6c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-45-59_270744729/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 90.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 96.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 99.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 102.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 102.41919662268992, + 117.52059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 105.01727283404324, + 116.02059265553642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 107.61534904539656, + 114.52059265553642, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 104.0, + 83.4429 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-40_2114738097/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-40_2114738097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d31bd8dfc7376c4530a0fd203805ee0f50e93b46 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-40_2114738097/pose.jsonl @@ -0,0 +1,327 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 263.683473151377, + 199.13855051561586, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 265.183473151377, + 196.54047430426255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 266.683473151377, + 193.94239809290923, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 268.183473151377, + 191.3443218815559, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.683473151377, + 188.7462456702026, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 271.183473151377, + 186.14816945884928, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 272.683473151377, + 183.55009324749597, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.183473151377, + 180.95201703614265, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 275.683473151377, + 178.35394082478933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 277.183473151377, + 175.75586461343602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 278.683473151377, + 173.1577884020827, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 280.183473151377, + 170.55971219072939, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 281.683473151377, + 167.96163597937607, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 283.183473151377, + 165.36355976802275, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 284.683473151377, + 162.76548355666944, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 286.183473151377, + 160.16740734531612, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 287.683473151377, + 157.5693311339628, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 289.183473151377, + 154.9712549226095, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 290.683473151377, + 152.37317871125617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.183473151377, + 149.77510249990286, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 293.683473151377, + 147.17702628854954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 295.183473151377, + 144.57895007719623, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 296.683473151377, + 141.9808738658429, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 298.183473151377, + 139.3827976544896, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 312.0, + 116.0, + 63.137 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-54_2007905771/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-54_2007905771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17c94a6a2edeba86ea1cbd48e848309e0408439b --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-54_2007905771/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 80.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 83.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 86.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 89.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 95.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 101.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 101.84504507002504, + -176.31002234008184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 103.34504507002504, + -173.71194612872853, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 104.84504507002504, + -171.1138699173752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 106.34504507002504, + -168.5157937060219, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 107.84504507002504, + -165.91771749466858, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 109.34504507002504, + -163.31964128331526, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 110.84504507002504, + -160.72156507196195, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-7_1063958031/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-7_1063958031/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72ccb1f7400d5ea5180f2bc13deff2d7cb35d350 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-46-7_1063958031/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -242.42278105744674, + -134.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -242.42278105744674, + -137.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -242.42278105744674, + -140.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -242.42278105744674, + -143.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -242.42278105744674, + -146.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -242.42278105744674, + -149.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -242.42278105744674, + -152.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -242.42278105744674, + -155.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -242.42278105744674, + -158.1315081134049, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -242.42278105744674, + -158.1315081134049, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -240.92278105744674, + -160.7295843247582, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -239.42278105744674, + -163.32766053611152, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -237.92278105744674, + -165.92573674746484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -236.42278105744674, + -168.52381295881816, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -234.92278105744674, + -171.12188917017147, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -233.42278105744674, + -173.7199653815248, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -233.42278105744674, + -173.7199653815248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -233.42278105744674, + -176.7199653815248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -233.42278105744674, + -179.7199653815248, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-47-5_1469834481/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-47-5_1469834481/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53c088ce23dc565ee4979786deb76abb1923e8d4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-47-5_1469834481/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 168.12541594929314, + -82.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 165.52733973793983, + -80.837636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 162.9292635265865, + -79.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 160.3311873152332, + -77.837636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 157.73311110387988, + -76.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 155.13503489252656, + -74.837636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 152.53695868117325, + -73.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 149.93888246981993, + -71.837636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 147.3408062584666, + -70.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 144.7427300471133, + -68.837636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 142.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 142.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 139.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 136.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 133.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 130.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 127.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 124.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 124.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 124.14465383575998, + -67.337636871834, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 122.64465383575998, + -64.73956066048068, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 121.14465383575998, + -62.14148444912736, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-49-32_352406219/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-49-32_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5d491cb4f5e2850a1ee1df4bcde5a76f62ea909 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-49-32_352406219/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -168.73658769090716, + -267.6234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -171.33466390226047, + -269.1234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -173.9327401136138, + -270.6234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -176.5308163249671, + -272.1234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -179.12889253632042, + -273.6234628125009, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -179.12889253632042, + -273.6234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.12889253632042, + -273.6234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.12889253632042, + -273.6234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -188.12889253632042, + -273.6234628125009, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -188.12889253632042, + -273.6234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -190.72696874767374, + -275.1234628125009, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -190.72696874767374, + -275.1234628125009, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.22696874767374, + -277.72153902385423, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -193.72696874767374, + -280.31961523520755, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -195.22696874767374, + -282.91769144656087, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-50-54_515530019/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-50-54_515530019/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2c6eec88e4bba557924eea7ef345935e52cdd7b --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-50-54_515530019/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -295.54697653113664, + -166.7075163185052, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -294.04697653113664, + -164.1094401071519, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -292.54697653113664, + -161.51136389579858, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -291.04697653113664, + -158.91328768444527, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -289.54697653113664, + -156.31521147309195, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.04697653113664, + -153.71713526173863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -286.54697653113664, + -151.11905905038532, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -285.04697653113664, + -148.520982839032, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -283.54697653113664, + -145.92290662767869, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -282.04697653113664, + -143.32483041632537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -280.54697653113664, + -140.72675420497205, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -279.04697653113664, + -138.12867799361874, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -277.54697653113664, + -135.53060178226542, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -276.04697653113664, + -132.9325255709121, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -274.54697653113664, + -130.3344493595588, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -274.54697653113664, + -130.3344493595588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.9489003197833, + -128.8344493595588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -269.35082410843, + -127.33444935955879, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -266.7527478970767, + -125.83444935955879, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -264.1546716857234, + -124.33444935955879, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-51-41_1409959708/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-51-41_1409959708/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..053eeb5670a69600d2faf9c84fcd7c805d499a05 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-51-41_1409959708/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -92.85374649792038, + -253.85171787029017, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -90.25567028656707, + -255.35171787029017, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -87.65759407521375, + -256.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982907 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -85.05951786386044, + -258.35171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -82.46144165250712, + -259.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -79.8633654411538, + -261.35171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -77.26528922980049, + -262.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -74.66721301844717, + -264.35171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -72.06913680709386, + -265.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -69.47106059574054, + -267.35171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -66.87298438438722, + -268.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -64.27490817303391, + -270.35171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -61.67683196168059, + -271.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -59.078755750327275, + -273.35171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -56.48067953897396, + -274.85171787029014, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -56.48067953897396, + -274.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -53.48067953897396, + -274.85171787029014, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -50.48067953897396, + -274.85171787029014, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -32.0, + -284.0, + 73.6815 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-52-28_200747796/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-52-28_200747796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0912a82419f5991cb39158bb38a197a2ffa31f40 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-52-28_200747796/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 178.59035898326243, + -96.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 175.99228277190912, + -95.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 173.3942065605558, + -93.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 170.79613034920249, + -92.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 168.19805413784917, + -90.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 165.59997792649585, + -89.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 163.00190171514254, + -87.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 160.40382550378922, + -86.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 157.8057492924359, + -84.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 155.2076730810826, + -83.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 152.60959686972927, + -81.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 150.01152065837596, + -80.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 147.41344444702264, + -78.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 144.81536823566933, + -77.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 142.217292024316, + -75.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 139.6192158129627, + -74.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 137.02113960160938, + -72.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 134.42306339025606, + -71.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 131.82498717890275, + -69.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 129.22691096754943, + -68.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 126.62883475619611, + -66.56922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 124.0307585448428, + -65.06922426990255, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 121.43268233348948, + -63.56922426990255, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-53-11_168002245/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-53-11_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a49f9180a10f671e72e702ebe59b0d4f94310cf7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-53-11_168002245/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -88.91622682652707, + -226.2664216518925, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -87.41622682652707, + -228.86449786324582, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.91622682652707, + -231.46257407459913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -84.41622682652707, + -234.06065028595245, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -82.91622682652707, + -236.65872649730576, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.41622682652707, + -239.25680270865908, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.41622682652707, + -239.25680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -78.81815061517375, + -240.75680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -76.22007440382043, + -242.25680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -73.62199819246712, + -243.75680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -71.0239219811138, + -245.25680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -68.42584576976049, + -246.75680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -65.82776955840717, + -248.25680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -63.22969334705385, + -249.75680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -60.63161713570054, + -251.25680270865908, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -60.63161713570054, + -251.25680270865908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.13161713570054, + -253.8548789200124, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.63161713570054, + -256.4529551313657, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -32.0, + -284.0, + 73.6815 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-55-50_1911165193/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-55-50_1911165193/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8cfd336dd46e4222a9a5bb8607d7ec46073f682 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-55-50_1911165193/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 90.88238252869766, + 116.53530645013478, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.38238252869766, + 113.93723023878147, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.88238252869766, + 111.33915402742815, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 95.38238252869766, + 108.74107781607484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 96.88238252869766, + 106.14300160472152, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 98.38238252869766, + 103.5449253933682, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 99.88238252869766, + 100.94684918201489, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.38238252869766, + 98.34877297066157, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.88238252869766, + 95.75069675930825, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 104.38238252869766, + 93.15262054795494, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.88238252869766, + 90.55454433660162, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 107.38238252869766, + 87.9564681252483, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 108.88238252869766, + 85.35839191389499, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 108.88238252869766, + 85.35839191389499, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 111.48045874005098, + 83.85839191389499, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 114.0785349514043, + 82.35839191389499, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 116.67661116275761, + 80.85839191389499, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 119.27468737411093, + 79.35839191389499, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 121.87276358546424, + 77.85839191389499, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 48.0, + 83.4431 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-56-35_116087764/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-56-35_116087764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e02121de105d6555db0fed22ae43d8b3b8ca6df3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-56-35_116087764/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -117.78080362636643, + -237.13284127764075, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -114.78080362636643, + -237.13284127764075, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -111.78080362636643, + -237.13284127764075, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -111.78080362636643, + -237.13284127764075, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -111.78080362636643, + -237.13284127764075, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -110.28080362636643, + -234.53476506628743, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -108.78080362636643, + -231.93668885493412, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.28080362636643, + -229.3386126435808, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -105.78080362636643, + -226.7405364322275, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -72.0, + -188.0, + 68.5434 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-57-13_8936987/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-57-13_8936987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4912ad1b185c9cf7eff19f907b61782103c6bb9c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-57-13_8936987/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -103.6693800514333, + -251.14833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -106.26745626278661, + -249.64833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -108.86553247413993, + -248.14833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -111.46360868549324, + -246.64833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -114.06168489684656, + -245.14833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -116.65976110819987, + -243.64833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -119.25783731955319, + -242.14833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -121.8559135309065, + -240.64833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.45398974225982, + -239.14833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -127.05206595361314, + -237.64833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.65014216496644, + -236.14833084505509, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -129.65014216496644, + -236.14833084505509, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931935 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -131.15014216496644, + -233.55025463370177, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -132.65014216496644, + -230.95217842234845, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-57-41_1275373743/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-57-41_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e75ab776d479ff77f2ff69614249b5b55cbe9e4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-57-41_1275373743/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 123.47739329660003, + 88.00965011432824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.87931708524671, + 86.50965011432824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 118.2812408738934, + 85.00965011432824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.68316466254008, + 83.50965011432824, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.68316466254008, + 83.50965011432824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.68316466254008, + 83.50965011432824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.68316466254008, + 83.50965011432824, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 64.0, + 95.4746 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-58-57_771151432/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-58-57_771151432/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af70405664ef567f327812f6808e7e3eb3723b87 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-58-57_771151432/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 168.9128385127841, + -183.86497027597625, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 171.51091472413742, + -182.36497027597625, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 174.10899093549074, + -180.86497027597625, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 176.70706714684405, + -179.36497027597625, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 179.30514335819737, + -177.86497027597625, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 179.30514335819737, + -177.86497027597625, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 180.80514335819737, + -175.26689406462293, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 182.30514335819737, + -172.66881785326962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 183.80514335819737, + -170.0707416419163, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-58-7_350322227/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-58-7_350322227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0d331c95f172dc4e2eeae076774ef2a7de28206 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-58-7_350322227/pose.jsonl @@ -0,0 +1,444 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 56.39627027278486, + -136.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 59.39627027278486, + -136.77051106462943, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 59.39627027278486, + -136.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 61.99434648413818, + -135.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 64.59242269549149, + -133.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 67.19049890684481, + -132.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 69.78857511819812, + -130.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 72.38665132955144, + -129.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 74.98472754090476, + -127.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 77.58280375225807, + -126.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 80.18087996361139, + -124.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 82.7789561749647, + -123.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 85.37703238631802, + -121.77051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 87.97510859767134, + -120.27051106462943, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 87.97510859767134, + -120.27051106462943, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 87.97510859767134, + -120.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 87.97510859767134, + -117.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 87.97510859767134, + -114.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 87.97510859767134, + -111.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 87.97510859767134, + -108.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 87.97510859767134, + -105.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 87.97510859767134, + -102.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 87.97510859767134, + -99.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 87.97510859767134, + -96.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 87.97510859767134, + -93.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 87.97510859767134, + -90.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 87.97510859767134, + -87.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 87.97510859767134, + -84.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 87.97510859767134, + -81.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 87.97510859767134, + -78.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 87.97510859767134, + -75.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 87.97510859767134, + -72.27051106462943, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 87.97510859767134, + -69.27051106462943, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 100.0, + -52.0, + 103.289 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-59-19_1244316437/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-59-19_1244316437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41a531c798b78aad170fa3b4e26f8a9d71157e7a --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_11-59-19_1244316437/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.96513406006689, + 237.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 85.36705784871357, + 235.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.76898163736026, + 234.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 80.17090542600694, + 232.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 77.57282921465362, + 231.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 74.97475300330031, + 229.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 72.37667679194699, + 228.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 69.77860058059368, + 226.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 67.18052436924036, + 225.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 64.58244815788704, + 223.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 61.98437194653373, + 222.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 59.38629573518041, + 220.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 56.788219523827095, + 219.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 54.19014331247378, + 217.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 51.59206710112046, + 216.29653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 48.99399088976715, + 214.79653602191635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 46.39591467841383, + 213.29653602191635, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 24.0, + 200.0, + 74.3678 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-0-30_653468858/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-0-30_653468858/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34794a87e5f6771a53f572bf59398de182f8f9d7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-0-30_653468858/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 92.27035894110156, + -170.45215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 94.86843515245488, + -171.95215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 97.4665113638082, + -173.45215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 100.06458757516151, + -174.95215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 102.66266378651483, + -176.45215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 105.26073999786814, + -177.95215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 107.85881620922146, + -179.45215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 110.45689242057477, + -180.95215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 113.05496863192809, + -182.45215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 115.6530448432814, + -183.95215003579568, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 118.25112105463472, + -185.45215003579568, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-11-26_1450573622/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-11-26_1450573622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cd1f26c3431bfe873ab8870c3a99e689333f27f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-11-26_1450573622/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.61513583270006, + -225.58228984425818, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 109.11513583270006, + -222.98421363290487, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 110.61513583270006, + -220.38613742155155, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.11513583270006, + -217.78806121019824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 113.61513583270006, + -215.18998499884492, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 113.61513583270006, + -215.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.61513583270006, + -212.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 113.61513583270006, + -209.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 113.61513583270006, + -206.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 113.61513583270006, + -203.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 113.61513583270006, + -200.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 113.61513583270006, + -197.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 113.61513583270006, + -194.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 113.61513583270006, + -191.18998499884492, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 113.61513583270006, + -191.18998499884492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 115.11513583270006, + -188.5919087874916, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 116.61513583270006, + -185.9938325761383, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 118.11513583270006, + -183.39575636478497, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 119.61513583270006, + -180.79768015343166, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 119.61513583270006, + -180.79768015343166, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 122.21321204405338, + -179.29768015343166, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 124.8112882554067, + -177.79768015343166, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-11-54_1034949299/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-11-54_1034949299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8339dcaa030403cfcc1b1d1c912e51dbd60f2d5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-11-54_1034949299/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -211.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -208.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -205.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -202.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -199.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -196.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -193.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -190.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -184.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -181.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -178.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -175.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -175.51906246022503, + 88.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -172.9209862488717, + 89.88168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -170.3229100375184, + 91.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -167.72483382616508, + 92.88168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -165.12675761481177, + 94.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -162.52868140345845, + 95.88168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.93060519210513, + 97.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -157.33252898075182, + 98.88168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -154.7344527693985, + 100.38168928466116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -152.13637655804519, + 101.88168928466116, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-12-20_1529195746/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-12-20_1529195746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb07ae4b0fc468b253a34e1a1f9a4d38119a1f27 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-12-20_1529195746/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -81.67666670337712, + 55.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.67666670337712, + 52.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -81.67666670337712, + 49.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -81.67666670337712, + 46.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.67666670337712, + 43.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -81.67666670337712, + 40.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.67666670337712, + 37.6873425570588, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -81.67666670337712, + 34.6873425570588, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + -36.0, + 58.0691 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-12-36_1335354340/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-12-36_1335354340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3d94f75a6d7e6e64621e1240502c1d43af2596c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-12-36_1335354340/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 262.14903663586813, + -182.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 264.74711284722144, + -184.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 267.34518905857476, + -185.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.9432652699281, + -187.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 272.5413414812814, + -188.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 275.1394176926347, + -190.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 277.737493903988, + -191.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 280.33557011534134, + -193.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 282.93364632669466, + -194.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 285.531722538048, + -196.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 288.1297987494013, + -197.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 290.7278749607546, + -199.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 293.3259511721079, + -200.59153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 295.92402738346124, + -202.09153199644106, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 295.92402738346124, + -202.09153199644106, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 297.42402738346124, + -204.68960820779438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.92402738346124, + -207.2876844191477, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-13-13_1494613810/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-13-13_1494613810/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9355b1b61e4559fb6360701f9847c71b5814a008 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-13-13_1494613810/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -97.15234270472538, + -281.34880317858216, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -95.65234270472538, + -283.9468793899355, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -94.15234270472538, + -286.5449556012888, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -92.65234270472538, + -289.1430318126421, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -91.15234270472538, + -291.7411080239954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -89.65234270472538, + -294.33918423534874, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -88.15234270472538, + -296.93726044670206, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -88.15234270472538, + -296.93726044670206, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -85.55426649337207, + -298.43726044670206, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -82.95619028201875, + -299.93726044670206, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -80.35811407066544, + -301.43726044670206, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -352.0, + 73.6816 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-13-22_1447267605/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-13-22_1447267605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32139c2113337924eb1f80336d13fb1e1fade22b --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-13-22_1447267605/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 88.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 85.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 79.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 76.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 73.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 70.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 67.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 64.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 61.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 58.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 55.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 52.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 49.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 46.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 43.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 43.59987865517489, + -186.48998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 41.001802443821575, + -184.98998710619236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 38.40372623246826, + -183.48998710619236, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -180.0, + 74.9412 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-14-8_1308044878/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-14-8_1308044878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60b3714e1adddf67a116a8173f8558bc39f87eb1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-14-8_1308044878/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -134.79769319392474, + -141.79871323919917, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -136.29769319392474, + -139.20063702784586, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -137.79769319392474, + -136.60256081649254, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -139.29769319392474, + -134.00448460513923, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -140.79769319392474, + -131.4064083937859, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -142.29769319392474, + -128.8083321824326, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -143.79769319392474, + -126.21025597107928, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.29769319392474, + -123.61217975972596, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -146.79769319392474, + -121.01410354837265, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -148.29769319392474, + -118.41602733701933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -149.79769319392474, + -115.81795112566601, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -151.29769319392474, + -113.2198749143127, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.79769319392474, + -110.62179870295938, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -152.79769319392474, + -110.62179870295938, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -152.79769319392474, + -107.62179870295938, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -152.79769319392474, + -104.62179870295938, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.79769319392474, + -101.62179870295938, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -76.0, + 58.0681 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-16-15_1143408282/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-16-15_1143408282/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae5b41eea6f086e61cadb1d903e2364552ec6f2c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-16-15_1143408282/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -73.43116296186984, + -283.19442553719074, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -71.93116296186984, + -285.79250174854405, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -70.43116296186984, + -288.39057795989737, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -68.93116296186984, + -290.9886541712507, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -67.43116296186984, + -293.586730382604, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.93116296186984, + -296.1848065939573, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -64.43116296186984, + -298.78288280531063, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -352.0, + 73.6816 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-17-58_1273911899/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-17-58_1273911899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4acf7ae58fbad7728a2e3d6e41e51ad7e13d160e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-17-58_1273911899/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -216.7140455225623, + 142.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -213.7140455225623, + 142.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -210.7140455225623, + 142.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -207.7140455225623, + 142.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -204.7140455225623, + 142.11494956878875, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -204.7140455225623, + 142.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -202.11596931120897, + 140.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -199.51789309985566, + 139.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.91981688850234, + 137.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.32174067714902, + 136.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -191.7236644657957, + 134.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -189.1255882544424, + 133.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -186.52751204308908, + 131.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -183.92943583173576, + 130.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -181.33135962038244, + 128.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -178.73328340902913, + 127.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -176.1352071976758, + 125.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -173.5371309863225, + 124.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.93905477496918, + 122.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -168.34097856361586, + 121.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.74290235226255, + 119.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -163.14482614090923, + 118.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -160.54674992955592, + 116.61494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -157.9486737182026, + 115.11494956878875, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -155.35059750684928, + 113.61494956878875, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-18-44_619290071/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-18-44_619290071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c9f5e89fe5846ae9e1da020fab24bd086aeb861 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-18-44_619290071/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 17.88517713311404, + 249.0483470320794, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 16.38517713311404, + 246.45027082072608, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 14.885177133114041, + 243.85219460937276, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 13.385177133114041, + 241.25411839801944, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 11.885177133114041, + 238.65604218666613, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 11.885177133114041, + 238.65604218666613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 9.287100921760725, + 237.15604218666613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 6.689024710407409, + 235.65604218666613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 4.090948499054093, + 234.15604218666613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.4928722877007772, + 232.65604218666613, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-19-4_407487131/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-19-4_407487131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1cbbc0247bd4201b74905a3f762155c9f9b55db --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-19-4_407487131/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 104.32691208844781, + -274.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 104.32691208844781, + -271.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.32691208844781, + -268.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 104.32691208844781, + -265.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 104.32691208844781, + -262.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 104.32691208844781, + -259.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 104.32691208844781, + -256.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 104.32691208844781, + -253.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 104.32691208844781, + -250.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 104.32691208844781, + -247.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 104.32691208844781, + -244.84219967779427, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 104.32691208844781, + -244.84219967779427, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 102.82691208844781, + -242.24412346644095, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 101.32691208844781, + -239.64604725508764, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 99.82691208844781, + -237.04797104373432, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 98.32691208844781, + -234.449894832381, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 96.82691208844781, + -231.8518186210277, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 95.32691208844781, + -229.25374240967437, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 93.82691208844781, + -226.65566619832106, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-2-17_1789366143/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-2-17_1789366143/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ceb83e0403d8090807cdeaa4deca8b364ccf004 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-2-17_1789366143/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -150.94706703281608, + 200.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -150.94706703281608, + 197.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -150.94706703281608, + 194.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -150.94706703281608, + 191.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -150.94706703281608, + 188.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -150.94706703281608, + 185.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -150.94706703281608, + 182.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -150.94706703281608, + 179.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -150.94706703281608, + 176.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -150.94706703281608, + 173.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -150.94706703281608, + 170.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -150.94706703281608, + 167.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -150.94706703281608, + 164.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -150.94706703281608, + 161.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -150.94706703281608, + 158.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -150.94706703281608, + 155.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -150.94706703281608, + 152.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -150.94706703281608, + 149.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -150.94706703281608, + 146.54433884644115, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -150.94706703281608, + 146.54433884644115, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -149.44706703281608, + 143.94626263508783, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -147.94706703281608, + 141.34818642373452, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -146.44706703281608, + 138.7501102123812, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -144.94706703281608, + 136.15203400102789, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -143.44706703281608, + 133.55395778967457, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -141.94706703281608, + 130.95588157832125, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -140.44706703281608, + 128.35780536696794, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -138.94706703281608, + 125.75972915561462, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-20-30_937370163/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-20-30_937370163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e5554e29a28fee425995d9f93901a0d404a0014 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-20-30_937370163/pose.jsonl @@ -0,0 +1,366 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -159.74713380860658, + 119.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -156.74713380860658, + 119.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -153.74713380860658, + 119.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -150.74713380860658, + 119.67659054580184, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -150.74713380860658, + 119.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -148.14905759725326, + 121.17659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -145.55098138589995, + 122.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -142.95290517454663, + 124.17659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -140.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -140.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -137.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -134.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -131.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -128.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -128.3548289631933, + 125.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -125.75675275184, + 124.17659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -123.15867654048668, + 122.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -120.56060032913336, + 121.17659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -117.96252411778005, + 119.67659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -115.36444790642673, + 118.17659054580184, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -115.36444790642673, + 118.17659054580184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -113.86444790642673, + 115.57851433444853, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -112.36444790642673, + 112.98043812309521, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -110.86444790642673, + 110.3823619117419, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -109.36444790642673, + 107.78428570038858, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -107.86444790642673, + 105.18620948903526, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -106.36444790642673, + 102.58813327768195, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + 96.0, + 83.0685 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-21-16_1642548899/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-21-16_1642548899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4967fb1f50df7fc8632e20e9b9a667f96240d662 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-21-16_1642548899/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -192.29612731600253, + -143.39974154752656, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -190.79612731600253, + -140.80166533617324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -189.29612731600253, + -138.20358912481993, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -187.79612731600253, + -135.6055129134666, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -186.29612731600253, + -133.0074367021133, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -184.79612731600253, + -130.40936049075998, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -183.29612731600253, + -127.81128427940666, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -181.79612731600253, + -125.21320806805335, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -180.29612731600253, + -122.61513185670003, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -178.79612731600253, + -120.01705564534672, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -177.29612731600253, + -117.4189794339934, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -177.29612731600253, + -117.4189794339934, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -177.29612731600253, + -114.4189794339934, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -177.29612731600253, + -111.4189794339934, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -177.29612731600253, + -108.4189794339934, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -177.29612731600253, + -105.4189794339934, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -177.29612731600253, + -105.4189794339934, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -175.79612731600253, + -102.82090322264008, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -76.0, + 58.0681 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-21-3_1973387981/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-21-3_1973387981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9f0c9591dcae1d30ea31c00206a62ac819d00df --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-21-3_1973387981/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -65.46760128064199, + -103.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -65.46760128064199, + -106.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.46760128064199, + -109.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -65.46760128064199, + -112.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -65.46760128064199, + -115.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -65.46760128064199, + -118.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -65.46760128064199, + -121.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -65.46760128064199, + -124.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -65.46760128064199, + -127.3454399384975, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -65.46760128064199, + -130.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -65.46760128064199, + -133.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -65.46760128064199, + -136.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -65.46760128064199, + -139.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -65.46760128064199, + -142.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -65.46760128064199, + -145.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -65.46760128064199, + -148.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -65.46760128064199, + -151.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -65.46760128064199, + -154.34543993849752, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -65.46760128064199, + -154.34543993849752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -66.96760128064199, + -156.94351614985084, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -68.46760128064199, + -159.54159236120415, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -72.0, + -188.0, + 68.5434 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-22-41_1662739668/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-22-41_1662739668/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c528f0efa78e553a782b3271c09a950fac112fe5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-22-41_1662739668/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 65.72885199376647, + 250.449177858035, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 67.22885199376647, + 247.85110164668168, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.72885199376647, + 245.25302543532837, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 70.22885199376647, + 242.65494922397505, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 71.72885199376647, + 240.05687301262174, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 73.22885199376647, + 237.45879680126842, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 74.72885199376647, + 234.8607205899151, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 76.22885199376647, + 232.2626443785618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 77.72885199376647, + 229.66456816720847, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 79.22885199376647, + 227.06649195585516, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 80.72885199376647, + 224.46841574450184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 82.22885199376647, + 221.87033953314852, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 83.72885199376647, + 219.2722633217952, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 85.22885199376647, + 216.6741871104419, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.72885199376647, + 214.07611089908858, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 88.22885199376647, + 211.47803468773526, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 89.72885199376647, + 208.87995847638194, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 91.22885199376647, + 206.28188226502863, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.22885199376647, + 206.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 91.22885199376647, + 203.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 91.22885199376647, + 200.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.22885199376647, + 197.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 91.22885199376647, + 194.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 91.22885199376647, + 191.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 91.22885199376647, + 188.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 91.22885199376647, + 185.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 91.22885199376647, + 182.28188226502863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 91.22885199376647, + 179.28188226502863, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0, + 164.0, + 59.4376 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-22-9_1472713773/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-22-9_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f86a8383d46f7a2a65e294cddd01f5f0d3092736 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-22-9_1472713773/pose.jsonl @@ -0,0 +1,405 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -192.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -183.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -180.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -177.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -174.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -171.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -168.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -168.27232310290583, + -152.6602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -165.6742468915525, + -154.1602271343066, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -165.6742468915525, + -154.1602271343066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -164.1742468915525, + -156.75830334565993, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -162.6742468915525, + -159.35637955701324, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -162.6742468915525, + -159.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -160.0761706801992, + -160.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -157.47809446884588, + -162.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -154.88001825749257, + -163.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -152.28194204613925, + -165.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.68386583478593, + -166.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -147.08578962343262, + -168.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -144.4877134120793, + -169.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -141.88963720072599, + -171.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -139.29156098937267, + -172.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -136.69348477801935, + -174.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -134.09540856666604, + -175.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -131.49733235531272, + -177.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -128.8992561439594, + -178.85637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -126.30117993260609, + -180.35637955701324, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -123.70310372125277, + -181.85637955701324, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -108.0, + -188.0, + 68.5433 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-24-11_1176911340/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-24-11_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40e712d67c5581a0b344567d96548f92ac096a7d --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-24-11_1176911340/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 122.9952407847112, + 74.81506937033565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 121.4952407847112, + 77.41314558168897, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 119.9952407847112, + 80.01122179304228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 118.4952407847112, + 82.6092980043956, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 116.9952407847112, + 85.20737421574891, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 115.4952407847112, + 87.80545042710223, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 113.9952407847112, + 90.40352663845555, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 112.4952407847112, + 93.00160284980886, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 110.9952407847112, + 95.59967906116218, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 109.4952407847112, + 98.1977552725155, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 107.9952407847112, + 100.79583148386881, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 106.4952407847112, + 103.39390769522213, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 104.9952407847112, + 105.99198390657544, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 103.4952407847112, + 108.59006011792876, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 103.4952407847112, + 108.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 103.4952407847112, + 111.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 103.4952407847112, + 114.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 103.4952407847112, + 117.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 103.4952407847112, + 120.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 103.4952407847112, + 123.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 103.4952407847112, + 126.59006011792876, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 103.4952407847112, + 129.59006011792877, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 103.4952407847112, + 132.59006011792877, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 103.4952407847112, + 135.59006011792877, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 103.4952407847112, + 138.59006011792877, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 103.4952407847112, + 141.59006011792877, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 103.4952407847112, + 141.59006011792877, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 101.9952407847112, + 144.1881363292821, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0, + 164.0, + 59.4376 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-24-57_1953443376/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-24-57_1953443376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..814c7d874a5abdf8143d805a573a9ab07233b932 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-24-57_1953443376/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 101.61036695785013, + -272.9959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 104.20844316920345, + -271.4959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.80651938055676, + -269.9959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 109.40459559191008, + -268.4959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.0026718032634, + -266.9959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 114.60074801461671, + -265.4959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.19882422597003, + -263.9959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 119.79690043732334, + -262.4959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 122.39497664867666, + -260.9959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 124.99305286002998, + -259.4959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.59112907138329, + -257.9959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 130.18920528273662, + -256.4959198573438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982965 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 132.78728149408994, + -254.99591985734378, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 135.38535770544325, + -253.49591985734378, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 137.98343391679657, + -251.99591985734378, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 137.98343391679657, + -251.99591985734378, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 139.48343391679657, + -249.39784364599046, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 140.98343391679657, + -246.79976743463715, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 142.48343391679657, + -244.20169122328383, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 143.98343391679657, + -241.60361501193051, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 145.48343391679657, + -239.0055388005772, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-25-31_1069755936/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-25-31_1069755936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..448ea26117948fa1dc9690f306396d3a1bca5ed1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-25-31_1069755936/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 245.25080644618686, + -284.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 247.84888265754017, + -282.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 250.4469588688935, + -281.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 253.0450350802468, + -279.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 255.64311129160012, + -278.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 258.24118750295344, + -276.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 260.83926371430675, + -275.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 263.43733992566007, + -273.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 266.0354161370134, + -272.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 268.6334923483667, + -270.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 271.23156855972, + -269.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 273.82964477107333, + -267.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 276.42772098242665, + -266.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 279.02579719377997, + -264.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 281.6238734051333, + -263.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 284.2219496164866, + -261.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 286.8200258278399, + -260.406556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 289.41810203919323, + -258.906556171339, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.41810203919323, + -258.906556171339, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 290.91810203919323, + -256.3084799599857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 292.41810203919323, + -253.71040374863236, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 293.91810203919323, + -251.11232753727904, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 295.41810203919323, + -248.51425132592573, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 296.91810203919323, + -245.9161751145724, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.41810203919323, + -243.3180989032191, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-26-22_588219756/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-26-22_588219756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4100886601375ee6f7a5269572a9606685741890 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-26-22_588219756/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 20.529358062224553, + -285.335276146388, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 19.029358062224553, + -287.93335235774134, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 17.529358062224553, + -290.53142856909466, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 16.029358062224553, + -293.129504780448, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 14.529358062224553, + -295.7275809918013, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -352.0, + 73.6816 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-26-29_1856669179/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-26-29_1856669179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..804160d69cd16bade60ca6291bab616c43f886cd --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-26-29_1856669179/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 50.11232545213891, + -172.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 50.11232545213891, + -169.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 50.11232545213891, + -166.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 50.11232545213891, + -163.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 50.11232545213891, + -160.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 50.11232545213891, + -157.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 50.11232545213891, + -154.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 50.11232545213891, + -151.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 50.11232545213891, + -148.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 50.11232545213891, + -145.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 50.11232545213891, + -142.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 50.11232545213891, + -139.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 50.11232545213891, + -136.10115968803933, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 50.11232545213891, + -136.10115968803933, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 51.61232545213891, + -133.50308347668602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 53.11232545213891, + -130.9050072653327, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 54.61232545213891, + -128.30693105397938, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 56.11232545213891, + -125.70885484262607, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 56.11232545213891, + -125.70885484262607, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 58.71040166349223, + -124.20885484262607, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 61.30847787484554, + -122.70885484262607, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 68.0, + -104.0, + 98.3909 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-13_1562402336/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-13_1562402336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27a80628bd2227838a22aa57be04b86686de1d60 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-13_1562402336/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 243.84533813463207, + -179.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 241.24726192327876, + -180.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 238.64918571192544, + -182.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.05110950057212, + -183.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 233.4530332892188, + -185.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.8549570778655, + -186.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 228.25688086651218, + -188.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 225.65880465515886, + -189.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 223.06072844380554, + -191.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 220.46265223245223, + -192.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 217.8645760210989, + -194.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 215.2664998097456, + -195.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 212.66842359839228, + -197.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 210.07034738703896, + -198.9453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 207.47227117568565, + -200.4453119907901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 204.87419496433233, + -201.9453119907901, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-36_1295166342/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-36_1295166342/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b13c1efb8132e4d5c652218ad419f46c7fca8ed --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-36_1295166342/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -114.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -111.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -108.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -105.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -102.19546828875495, + 149.4569347544053, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -100.69546828875495, + 152.0550109657586, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -99.19546828875495, + 154.65308717711193, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -97.69546828875495, + 157.25116338846524, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-45_1057467587/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-45_1057467587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a43420f99b23539e1e73f1ff5291c1b884de145e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-45_1057467587/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 52.436627910663915, + -287.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 52.436627910663915, + -284.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 52.436627910663915, + -281.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 52.436627910663915, + -278.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 52.436627910663915, + -275.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 52.436627910663915, + -272.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 52.436627910663915, + -269.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 52.436627910663915, + -266.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 52.436627910663915, + -263.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 52.436627910663915, + -260.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 52.436627910663915, + -257.9812699521792, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 52.436627910663915, + -254.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 52.436627910663915, + -251.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 52.436627910663915, + -248.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 52.436627910663915, + -245.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 52.436627910663915, + -242.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 52.436627910663915, + -239.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 52.436627910663915, + -236.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 52.436627910663915, + -233.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 52.436627910663915, + -230.98126995217922, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 52.436627910663915, + -230.98126995217922, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 50.936627910663915, + -228.3831937408259, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 49.436627910663915, + -225.7851175294726, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-4_1469262009/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-4_1469262009/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b9d481f6b14fcb957dcb1f0bc4a534ca07753fd --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-4_1469262009/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 54.85176516103273, + -129.41036254793005, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 53.35176516103273, + -132.00843875928337, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 51.85176516103273, + -134.60651497063668, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 50.35176516103273, + -137.20459118199, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 48.85176516103273, + -139.8026673933433, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 47.35176516103273, + -142.40074360469663, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.85176516103273, + -144.99881981604995, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.85176516103273, + -144.99881981604995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 43.253688949679415, + -146.49881981604995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 40.6556127383261, + -147.99881981604995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 38.05753652697278, + -149.49881981604995, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 12.0, + -180.0, + 74.9412 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-59_1799878206/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-59_1799878206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a63f374fccc3d3bdc64bb3805e2da7e1ba58753a --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-28-59_1799878206/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 270.0610151493771, + -184.69408945708824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 268.5610151493771, + -182.09601324573492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 267.0610151493771, + -179.4979370343816, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-29-30_476667372/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-29-30_476667372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79cfd8fccdb9602b21e5c08fb8592db75025e3a1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-29-30_476667372/pose.jsonl @@ -0,0 +1,132 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -72.44451712582568, + -249.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -72.44451712582568, + -246.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -72.44451712582568, + -243.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -72.44451712582568, + -240.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -72.44451712582568, + -237.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -72.44451712582568, + -234.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -72.44451712582568, + -231.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -72.44451712582568, + -228.1671970736486, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -72.44451712582568, + -225.1671970736486, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -72.0, + -188.0, + 68.5434 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-29-38_1070575321/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-29-38_1070575321/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ceab96fef08f2bfa1fabe8de265cfe36fb84d86 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-29-38_1070575321/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -187.24695693152466, + -63.550055214626184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.84503314287798, + -65.05005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.4431093542313, + -66.55005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -195.0411855655846, + -68.05005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -197.63926177693793, + -69.55005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -200.23733798829124, + -71.05005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -202.83541419964456, + -72.55005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -205.43349041099788, + -74.05005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -208.0315666223512, + -75.55005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -210.6296428337045, + -77.05005521462618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -213.22771904505782, + -78.55005521462618, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -244.0, + -96.0, + 98.8047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-15_2103318776/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-15_2103318776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fcf5dbb9e729c7de78b0e876122e4002d13ae94 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-15_2103318776/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -284.07502329721956, + -102.11231590165458, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.57502329721956, + -99.51423969030127, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -281.07502329721956, + -96.91616347894795, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -279.57502329721956, + -94.31808726759463, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -278.07502329721956, + -91.72001105624132, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -276.57502329721956, + -89.121934844888, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -275.07502329721956, + -86.52385863353469, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -275.07502329721956, + -86.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -275.07502329721956, + -83.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -275.07502329721956, + -80.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -275.07502329721956, + -77.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -275.07502329721956, + -74.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -275.07502329721956, + -71.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -275.07502329721956, + -68.52385863353469, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.07502329721956, + -65.52385863353469, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-52_2112255763/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-52_2112255763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2413294a0ca5267a91ff0f6d224eea7ef03cb7c5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-52_2112255763/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -191.59993406350358, + -270.38646969042145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -190.09993406350358, + -267.78839347906813, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -188.59993406350358, + -265.1903172677148, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -187.09993406350358, + -262.5922410563615, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -185.59993406350358, + -259.9941648450082, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -184.09993406350358, + -257.39608863365487, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.59993406350358, + -254.79801242230155, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -181.09993406350358, + -252.19993621094824, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -179.59993406350358, + -249.60185999959492, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -179.59993406350358, + -249.60185999959492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -179.59993406350358, + -246.60185999959492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -179.59993406350358, + -243.60185999959492, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -179.59993406350358, + -240.60185999959492, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-5_1784639529/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-5_1784639529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f23176b4cbd958cc5567cf6fbd37f1364dae4ae5 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-3-5_1784639529/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 138.82098779521513, + -82.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 138.82098779521513, + -85.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 138.82098779521513, + -88.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 138.82098779521513, + -91.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 138.82098779521513, + -94.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 138.82098779521513, + -97.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 138.82098779521513, + -100.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 138.82098779521513, + -103.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 138.82098779521513, + -106.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 138.82098779521513, + -109.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 138.82098779521513, + -112.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 138.82098779521513, + -115.6094562103913, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 138.82098779521513, + -118.6094562103913, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-32-42_555996658/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-32-42_555996658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3e0abf06a9aa263b644715e026b7e8dc18b9380 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-32-42_555996658/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.96710196011634, + 175.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -141.96710196011634, + 172.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -141.96710196011634, + 169.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -141.96710196011634, + 166.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -141.96710196011634, + 163.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -141.96710196011634, + 160.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -141.96710196011634, + 157.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -141.96710196011634, + 154.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -141.96710196011634, + 151.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -141.96710196011634, + 148.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.96710196011634, + 145.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -141.96710196011634, + 142.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -141.96710196011634, + 139.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -141.96710196011634, + 136.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.96710196011634, + 133.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.96710196011634, + 130.9556027577575, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.96710196011634, + 130.9556027577575, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -140.46710196011634, + 128.3575265464042, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -138.96710196011634, + 125.75945033505087, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-33-40_1389867269/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-33-40_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1aa04130efbe475ab9a3a8171f04d47f7079d779 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-33-40_1389867269/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 250.1247588588197, + 59.42617789699668, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 248.6247588588197, + 62.02425410834999, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 247.1247588588197, + 64.62233031970331, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 245.6247588588197, + 67.22040653105662, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 244.1247588588197, + 69.81848274240994, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-34-12_711645630/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-34-12_711645630/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6eeedaf1b635f6945ecb3df724133c7ab928e330 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-34-12_711645630/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -47.14906069639728, + -231.03473963799848, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -49.747136907750594, + -229.53473963799848, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -52.34521311910391, + -228.03473963799848, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.943289330457226, + -226.53473963799848, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -57.54136554181054, + -225.03473963799848, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -108.0, + -188.0, + 68.5433 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-34-22_195740084/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-34-22_195740084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..296a17fd59c91589c96bfdb3bf6b28e85bc77525 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-34-22_195740084/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 219.10731463012124, + 43.96480010778, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 217.60731463012124, + 46.562876319133316, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 216.10731463012124, + 49.16095253048663, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 214.60731463012124, + 51.75902874183995, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 214.60731463012124, + 51.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 214.60731463012124, + 54.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 214.60731463012124, + 57.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 214.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 214.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 214.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 214.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 211.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 208.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 205.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 199.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 196.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 196.60731463012124, + 60.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 194.00923841876792, + 62.25902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 191.4111622074146, + 63.75902874183995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 188.8130859960613, + 65.25902874183994, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 186.21500978470797, + 66.75902874183994, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 183.61693357335466, + 68.25902874183994, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 183.61693357335466, + 68.25902874183994, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 182.11693357335466, + 70.85710495319326, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 180.61693357335466, + 73.45518116454657, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 104.0, + 83.4429 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-35-40_1635905385/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-35-40_1635905385/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3e10884387cd0c587a64ecee017b507ac21e1eb --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-35-40_1635905385/pose.jsonl @@ -0,0 +1,197 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 150.66311340820852, + 134.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 148.0650371968552, + 135.6702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 145.46696098550188, + 137.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 142.86888477414857, + 138.6702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 140.27080856279525, + 140.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 137.67273235144194, + 141.6702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 135.07465614008862, + 143.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 132.4765799287353, + 144.6702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 129.878503717382, + 146.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.28042750602867, + 147.6702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 124.68235129467536, + 149.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 122.08427508332204, + 150.6702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 119.48619887196872, + 152.1702051528146, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 116.88812266061541, + 153.6702051528146, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0, + 164.0, + 59.4376 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-36-43_1343606042/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-36-43_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22ace751534ed018a0cbdacfea7dfdd7ee787fbe --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-36-43_1343606042/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 102.54916287898988, + -170.48660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 99.95108666763656, + -171.98660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 97.35301045628324, + -173.48660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.75493424492993, + -174.98660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.15685803357661, + -176.48660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.5587818222233, + -177.98660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 86.96070561086998, + -179.48660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 84.36262939951666, + -180.98660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 81.76455318816335, + -182.48660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 79.16647697681003, + -183.98660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 76.56840076545672, + -185.48660416329884, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 73.9703245541034, + -186.98660416329884, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-38-22_524688209/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-38-22_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28375822b52db71f6c3759712ed8311ae53fdc76 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-38-22_524688209/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 171.75193940020492, + -100.85526333938796, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 174.75193940020492, + -100.85526333938796, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 177.75193940020492, + -100.85526333938796, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 180.75193940020492, + -100.85526333938796, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 180.75193940020492, + -100.85526333938796, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 180.75193940020492, + -100.85526333938796, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 182.25193940020492, + -103.45333955074128, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-38-9_846942590/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-38-9_846942590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..944c00f0b5bb14eeab293aaf3fc5aaa96790b480 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-38-9_846942590/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 89.2879747464748, + 234.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 89.2879747464748, + 231.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 89.2879747464748, + 228.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 89.2879747464748, + 225.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 89.2879747464748, + 222.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 89.2879747464748, + 219.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.2879747464748, + 216.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 89.2879747464748, + 213.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 89.2879747464748, + 210.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.2879747464748, + 207.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 89.2879747464748, + 204.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 89.2879747464748, + 201.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.2879747464748, + 198.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 89.2879747464748, + 195.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 89.2879747464748, + 192.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 89.2879747464748, + 189.46465748047189, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 89.2879747464748, + 189.46465748047189, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 90.7879747464748, + 186.86658126911857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 92.2879747464748, + 184.26850505776525, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 93.7879747464748, + 181.67042884641194, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0, + 164.0, + 59.4376 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-39-2_1371499336/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-39-2_1371499336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58ca1846fa6ae5c10fbc2c269cf398d95549f649 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-39-2_1371499336/pose.jsonl @@ -0,0 +1,67 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 173.80528086357788, + -107.60339004540566, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 176.80528086357788, + -107.60339004540566, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 179.80528086357788, + -107.60339004540566, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 182.80528086357788, + -107.60339004540566, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 236.0, + -120.0, + 90.3048 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-39-34_1927495994/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-39-34_1927495994/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7e7c30790c656496c500ccac98b59a55ba8279bf --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-39-34_1927495994/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 43.55186044804647, + -292.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 43.55186044804647, + -289.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 43.55186044804647, + -286.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 43.55186044804647, + -283.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 43.55186044804647, + -280.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 43.55186044804647, + -277.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.55186044804647, + -274.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 43.55186044804647, + -271.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 43.55186044804647, + -268.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 43.55186044804647, + -265.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 43.55186044804647, + -262.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 43.55186044804647, + -259.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 43.55186044804647, + -256.1339814508248, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 43.55186044804647, + -253.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 43.55186044804647, + -250.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 43.55186044804647, + -247.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 43.55186044804647, + -244.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 43.55186044804647, + -241.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 43.55186044804647, + -238.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 43.55186044804647, + -235.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 43.55186044804647, + -232.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 43.55186044804647, + -229.13398145082482, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 43.55186044804647, + -229.13398145082482, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 45.05186044804647, + -226.5359052394715, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 46.55186044804647, + -223.9378290281182, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-4-35_1782436840/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-4-35_1782436840/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4ffd3ee224158a37f18a062f93ff9a99a0caf6ab --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-4-35_1782436840/pose.jsonl @@ -0,0 +1,80 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -105.47756460311584, + 193.34353445423616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.47756460311584, + 193.34353445423616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -99.47756460311584, + 193.34353445423616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -96.47756460311584, + 193.34353445423616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -93.47756460311584, + 193.34353445423616, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-40-13_11614769/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-40-13_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa164d627f1df1a7ded6b19fc72ec921bef52910 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-40-13_11614769/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -171.26809230400517, + -245.04557588149027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -173.86616851535848, + -246.54557588149027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -176.4642447267118, + -248.04557588149027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -179.0623209380651, + -249.54557588149027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -181.66039714941843, + -251.04557588149027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -184.25847336077175, + -252.54557588149027, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -184.25847336077175, + -252.54557588149027, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -185.75847336077175, + -255.14365209284358, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.25847336077175, + -257.7417283041969, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -188.75847336077175, + -260.3398045155502, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -190.25847336077175, + -262.93788072690353, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -191.75847336077175, + -265.53595693825685, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -193.25847336077175, + -268.13403314961016, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -194.75847336077175, + -270.7321093609635, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -196.25847336077175, + -273.3301855723168, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -196.25847336077175, + -273.3301855723168, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -196.25847336077175, + -273.3301855723168, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -199.25847336077175, + -273.3301855723168, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-40-44_1662981776/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-40-44_1662981776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e548d2f69cb7d8be58e9fb664d93a5a26eb56940 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-40-44_1662981776/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -168.67676494839992, + 30.077981161992923, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.17676494839992, + 32.67605737334624, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -165.67676494839992, + 35.274133584699555, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -164.17676494839992, + 37.87220979605287, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -162.67676494839992, + 40.47028600740619, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -161.17676494839992, + 43.0683622187595, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -159.67676494839992, + 45.66643843011282, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -158.17676494839992, + 48.264514641466135, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -156.67676494839992, + 50.86259085281945, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -155.17676494839992, + 53.46066706417277, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -153.67676494839992, + 56.05874327552608, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -152.17676494839992, + 58.6568194868794, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -150.67676494839992, + 61.254895698232716, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -149.17676494839992, + 63.85297190958603, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -147.67676494839992, + 66.45104812093935, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -147.67676494839992, + 66.45104812093935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -147.67676494839992, + 69.45104812093935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -147.67676494839992, + 72.45104812093935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -147.67676494839992, + 75.45104812093935, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -147.67676494839992, + 78.45104812093935, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-41-8_246247255/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-41-8_246247255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84615acdfaf7a6a12a145fe6fcb7109a47015df3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-41-8_246247255/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.33457769092146, + -274.69529434470985, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.83457769092146, + -272.09721813335653, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 104.33457769092146, + -269.4991419220032, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 102.83457769092146, + -266.9010657106499, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.33457769092146, + -264.3029894992966, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 99.83457769092146, + -261.70491328794327, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 98.33457769092146, + -259.10683707658995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 96.83457769092146, + -256.50876086523664, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 95.33457769092146, + -253.91068465388332, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 93.83457769092146, + -251.31260844253, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 93.83457769092146, + -251.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 93.83457769092146, + -248.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 93.83457769092146, + -245.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 93.83457769092146, + -242.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 93.83457769092146, + -239.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 93.83457769092146, + -236.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 93.83457769092146, + -233.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 93.83457769092146, + -230.31260844253, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 93.83457769092146, + -227.31260844253, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-42-51_1017679567/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-42-51_1017679567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..715c1de745e39a548ec54d6942d6956ccdba232d --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-42-51_1017679567/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -210.21624252079152, + -121.59296613465636, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -208.71624252079152, + -118.99488992330305, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -207.21624252079152, + -116.39681371194973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -205.71624252079152, + -113.79873750059642, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -204.21624252079152, + -111.2006612892431, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -202.71624252079152, + -108.60258507788978, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -202.71624252079152, + -108.60258507788978, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -200.1181663094382, + -107.10258507788978, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -197.5200900980849, + -105.60258507788978, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.92201388673158, + -104.10258507788978, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -192.32393767537826, + -102.60258507788978, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -189.72586146402494, + -101.10258507788978, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -76.0, + 58.0681 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-42-9_2118421993/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-42-9_2118421993/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e207b29d53936a3c4ab945d1c06294cf5578e6f8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-42-9_2118421993/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 107.36045391985496, + 194.04639765115076, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.86045391985496, + 191.44832143979744, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 110.36045391985496, + 188.85024522844412, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 111.86045391985496, + 186.2521690170908, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 113.36045391985496, + 183.6540928057375, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 114.86045391985496, + 181.05601659438418, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 116.36045391985496, + 178.45794038303086, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 117.86045391985496, + 175.85986417167754, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 119.36045391985496, + 173.26178796032423, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 120.86045391985496, + 170.6637117489709, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 122.36045391985496, + 168.0656355376176, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 123.86045391985496, + 165.46755932626428, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 125.36045391985496, + 162.86948311491096, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 126.86045391985496, + 160.27140690355765, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 128.36045391985496, + 157.67333069220433, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 129.86045391985496, + 155.07525448085102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 131.36045391985496, + 152.4771782694977, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 132.86045391985496, + 149.87910205814438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 134.36045391985496, + 147.28102584679107, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 134.36045391985496, + 147.28102584679107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 134.36045391985496, + 144.28102584679107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.36045391985496, + 141.28102584679107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 134.36045391985496, + 138.28102584679107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 134.36045391985496, + 135.28102584679107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 134.36045391985496, + 132.28102584679107, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 134.36045391985496, + 129.28102584679107, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 104.0, + 83.4429 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-43-50_1411154259/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-43-50_1411154259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2291ab2d764eeef4578183d8fb20398449f3552e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-43-50_1411154259/pose.jsonl @@ -0,0 +1,314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -114.31571836323769, + -123.33796525474028, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -115.81571836323769, + -125.9360414660936, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -117.31571836323769, + -128.53411767744691, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -118.81571836323769, + -131.13219388880023, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.31571836323769, + -133.73027010015355, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -121.81571836323769, + -136.32834631150686, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -123.31571836323769, + -138.92642252286018, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -124.81571836323769, + -141.5244987342135, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -126.31571836323769, + -144.1225749455668, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -127.81571836323769, + -146.72065115692013, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -129.3157183632377, + -149.31872736827344, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -130.8157183632377, + -151.91680357962676, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -132.3157183632377, + -154.51487979098007, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -133.8157183632377, + -157.1129560023334, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -135.3157183632377, + -159.7110322136867, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -136.8157183632377, + -162.30910842504002, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -138.3157183632377, + -164.90718463639334, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -139.8157183632377, + -167.50526084774665, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -141.3157183632377, + -170.10333705909997, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -142.8157183632377, + -172.7014132704533, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -144.3157183632377, + -175.2994894818066, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -145.8157183632377, + -177.89756569315992, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -147.3157183632377, + -180.49564190451323, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-43-7_201690613/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-43-7_201690613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a987560e58494cf9cc34b1eca3da0bfb49ce722e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-43-7_201690613/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 276.9066594120608, + 69.73236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.30858320070746, + 71.23236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 271.71050698935414, + 72.73236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.1124307780008, + 74.23236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 266.5143545666475, + 75.73236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 263.9162783552942, + 77.23236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 261.3182021439409, + 78.73236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 258.72012593258756, + 80.23236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 256.12204972123425, + 81.73236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 253.52397350988093, + 83.23236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 250.92589729852762, + 84.73236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 248.3278210871743, + 86.23236615061535, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 248.3278210871743, + 86.23236615061535, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 246.8278210871743, + 88.83044236196866, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 245.3278210871743, + 91.42851857332198, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 243.8278210871743, + 94.0265947846753, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 242.3278210871743, + 96.62467099602861, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 212.0, + 120.0, + 101.521 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-19_282828202/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-19_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fc3f1eeb13d4cff39b47714eecfa1bee98fb560 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-19_282828202/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -159.56663196387183, + -54.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -159.56663196387183, + -57.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -159.56663196387183, + -60.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.56663196387183, + -63.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.56663196387183, + -66.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.56663196387183, + -69.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -159.56663196387183, + -72.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -159.56663196387183, + -75.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -159.56663196387183, + -78.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -159.56663196387183, + -81.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -159.56663196387183, + -84.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.56663196387183, + -87.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -159.56663196387183, + -90.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -159.56663196387183, + -93.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -159.56663196387183, + -96.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -159.56663196387183, + -99.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -159.56663196387183, + -102.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -159.56663196387183, + -105.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -159.56663196387183, + -108.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -159.56663196387183, + -111.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -159.56663196387183, + -114.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -159.56663196387183, + -117.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -159.56663196387183, + -120.19145918175951, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -159.56663196387183, + -120.19145918175951, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -161.06663196387183, + -122.78953539311283, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -162.56663196387183, + -125.38761160446614, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -144.0, + 64.9099 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-35_110613202/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-35_110613202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22e606800a49dc5b2884c26c52c02f30590f73f4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-35_110613202/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -141.07485111313116, + -81.49794433767616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -138.07485111313116, + -81.49794433767616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -135.07485111313116, + -81.49794433767616, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -135.07485111313116, + -81.49794433767616, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -135.07485111313116, + -81.49794433767616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -133.57485111313116, + -78.89986812632284, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -132.07485111313116, + -76.30179191496953, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -130.57485111313116, + -73.70371570361621, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -129.07485111313116, + -71.1056394922629, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -127.57485111313116, + -68.50756328090958, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -127.57485111313116, + -68.50756328090958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -124.97677490177784, + -67.00756328090958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.37869869042453, + -65.50756328090958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -119.78062247907121, + -64.00756328090958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -117.1825462677179, + -62.50756328090958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -114.58447005636458, + -61.00756328090958, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -114.58447005636458, + -61.00756328090958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -113.08447005636458, + -58.40948706955626, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -111.58447005636458, + -55.81141085820295, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + -36.0, + 58.0691 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-47_114723506/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-47_114723506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31754563abb1a3b7f78969d79fae11ac381f8c76 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-44-47_114723506/pose.jsonl @@ -0,0 +1,301 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 91.7730453236273, + -285.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.7730453236273, + -282.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.7730453236273, + -279.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 91.7730453236273, + -276.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 91.7730453236273, + -273.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.7730453236273, + -270.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 91.7730453236273, + -267.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 91.7730453236273, + -264.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.7730453236273, + -261.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.7730453236273, + -258.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 91.7730453236273, + -255.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.7730453236273, + -252.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 91.7730453236273, + -249.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.7730453236273, + -246.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 91.7730453236273, + -243.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 91.7730453236273, + -240.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 91.7730453236273, + -237.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 91.7730453236273, + -234.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.7730453236273, + -231.47440866750384, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 91.7730453236273, + -231.47440866750384, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 90.2730453236273, + -228.87633245615052, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 88.7730453236273, + -226.2782562447972, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 88.0, + -204.0, + 89.0484 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-19_1242608872/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-19_1242608872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb9569de220488a9091a4cbb70752963742bde13 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-19_1242608872/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -123.2306322443579, + -207.49350845217506, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -124.7306322443579, + -204.89543224082175, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -126.2306322443579, + -202.29735602946843, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -127.7306322443579, + -199.69927981811512, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -129.2306322443579, + -197.1012036067618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -130.7306322443579, + -194.50312739540848, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -132.2306322443579, + -191.90505118405517, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -133.7306322443579, + -189.30697497270185, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -133.7306322443579, + -189.30697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -133.7306322443579, + -186.30697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -133.7306322443579, + -183.30697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -133.7306322443579, + -180.30697497270185, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -133.7306322443579, + -180.30697497270185, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -133.7306322443579, + -180.30697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -136.32870845571122, + -178.80697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -138.92678466706454, + -177.30697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -141.52486087841785, + -175.80697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -144.12293708977117, + -174.30697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.7210133011245, + -172.80697497270185, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.3190895124778, + -171.30697497270185, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -144.0, + 64.9099 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-32_1137949908/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-32_1137949908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76588a700f2fcc41284c769a95a0db1081886eb1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-32_1137949908/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -346.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -343.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -340.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -334.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -331.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -328.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -325.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -322.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -319.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -316.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -313.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -310.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -307.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -304.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -304.2144117519864, + -20.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -301.6163355406331, + -22.03904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -299.0182593292798, + -23.53904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -296.42018311792646, + -25.03904295840136, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -293.82210690657314, + -26.53904295840136, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -264.0, + -32.0, + 98.3205 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-56_777210498/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-56_777210498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02605e51502372194660e9317fd8c7761e77cf8c --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-46-56_777210498/pose.jsonl @@ -0,0 +1,236 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 109.5247626622562, + 129.53458810066962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 108.0247626622562, + 126.93651188931631, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.5247626622562, + 124.33843567796299, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 105.0247626622562, + 121.74035946660968, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 103.5247626622562, + 119.14228325525636, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 102.0247626622562, + 116.54420704390304, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 100.5247626622562, + 113.94613083254973, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 100.5247626622562, + 113.94613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 97.92668645090288, + 112.44613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 95.32861023954956, + 110.94613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 92.73053402819625, + 109.44613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 90.13245781684293, + 107.94613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 87.53438160548961, + 106.44613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 84.9363053941363, + 104.94613083254973, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 84.9363053941363, + 104.94613083254973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 83.4363053941363, + 102.34805462119641, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 81.9363053941363, + 99.7499784098431, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + 64.0, + 95.4746 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-47-8_653448036/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-47-8_653448036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8077b65a0014e5cb7e479097a50dd5423a269503 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-47-8_653448036/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -49.596121207801986, + -248.52318801637452, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -51.096121207801986, + -245.9251118050212, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -52.596121207801986, + -243.3270355936679, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -54.096121207801986, + -240.72895938231457, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -55.596121207801986, + -238.13088317096125, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -57.096121207801986, + -235.53280695960794, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -58.596121207801986, + -232.93473074825462, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -60.096121207801986, + -230.3366545369013, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -60.096121207801986, + -230.3366545369013, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -60.096121207801986, + -227.3366545369013, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -60.096121207801986, + -224.3366545369013, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -72.0, + -188.0, + 68.5434 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-23_1329132133/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-23_1329132133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b61d06727a7f6e83150a32820fc4645651df97d0 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-23_1329132133/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 63.35670591275256, + 220.210875051806, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 64.85670591275256, + 217.61279884045268, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 66.35670591275256, + 215.01472262909937, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 67.85670591275256, + 212.41664641774605, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 69.35670591275256, + 209.81857020639274, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 70.85670591275256, + 207.22049399503942, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 72.35670591275256, + 204.6224177836861, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 73.85670591275256, + 202.0243415723328, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 75.35670591275256, + 199.42626536097947, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 76.85670591275256, + 196.82818914962616, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 78.35670591275256, + 194.23011293827284, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 79.85670591275256, + 191.63203672691952, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.35670591275256, + 189.0339605155662, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 82.85670591275256, + 186.4358843042129, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 84.35670591275256, + 183.83780809285958, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 85.85670591275256, + 181.23973188150626, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0, + 164.0, + 59.4376 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-35_1280321648/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-35_1280321648/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3fd8408c8dcd198853622fc51255634515fb621 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-35_1280321648/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -111.06790140765739, + -124.10175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -113.6659776190107, + -122.60175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -116.26405383036402, + -121.10175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -118.86213004171734, + -119.60175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -121.46020625307065, + -118.10175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -124.05828246442397, + -116.60175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -126.65635867577728, + -115.10175503048617, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.65635867577728, + -115.10175503048617, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -128.15635867577728, + -112.50367881913286, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -129.65635867577728, + -109.90560260777954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -131.15635867577728, + -107.30752639642623, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -132.65635867577728, + -104.70945018507291, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -134.15635867577728, + -102.1113739737196, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -76.0, + 58.0681 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-45_501772890/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-45_501772890/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64eb2c4b45e2e95ecfdccdd2add11c8cb6fe7db3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-48-45_501772890/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 122.73412445362095, + 96.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.13604824226763, + 97.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 117.53797203091432, + 99.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 114.939895819561, + 100.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 112.34181960820769, + 102.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 109.74374339685437, + 103.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 107.14566718550105, + 105.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 104.54759097414774, + 106.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 101.94951476279442, + 108.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 99.3514385514411, + 109.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 96.75336234008779, + 111.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.15528612873447, + 112.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 91.55720991738116, + 114.38127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.95913370602784, + 115.88127052674102, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.36105749467453, + 117.38127052674102, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 60.0, + 136.0, + 91.3676 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-5-13_1395235128/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-5-13_1395235128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5f285db4361278a66258e389ff975f63ad3dd8f --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-5-13_1395235128/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.78106504899726, + 130.8689735863608, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -61.37914126035058, + 129.3689735863608, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -63.977217471703895, + 127.8689735863608, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-5-1_165344818/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-5-1_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0fcf0a4f1a355aa4a394d6354450627a7bf5a45e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-5-1_165344818/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 112.9079597373438, + -287.6406083628898, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 114.4079597373438, + -285.0425321515365, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.9079597373438, + -282.44445594018316, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 117.4079597373438, + -279.84637972882985, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 118.9079597373438, + -277.24830351747653, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 120.4079597373438, + -274.6502273061232, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 121.9079597373438, + -272.0521510947699, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 123.4079597373438, + -269.4540748834166, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 124.9079597373438, + -266.85599867206327, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 126.4079597373438, + -264.25792246070995, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 127.9079597373438, + -261.65984624935663, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 129.40795973734382, + -259.0617700380033, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965936 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 130.90795973734382, + -256.46369382665, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 130.90795973734382, + -256.46369382665, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 133.50603594869713, + -254.96369382665, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 136.10411216005045, + -253.46369382665, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 138.70218837140376, + -251.96369382665, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 141.30026458275708, + -250.46369382665, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 143.8983407941104, + -248.96369382665, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 168.0, + -220.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-50-35_624549797/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-50-35_624549797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44fc9c870034ff16694432e78bc07af443964f10 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-50-35_624549797/pose.jsonl @@ -0,0 +1,262 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.22111236503349, + -256.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -93.81918857638681, + -254.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -96.41726478774012, + -253.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -99.01534099909344, + -251.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -101.61341721044676, + -250.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.21149342180007, + -248.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -106.80956963315339, + -247.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -109.4076458445067, + -245.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -112.00572205586002, + -244.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -114.60379826721334, + -242.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -117.20187447856665, + -241.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -119.79995068991997, + -239.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -122.39802690127328, + -238.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -124.9961031126266, + -236.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.59417932397992, + -235.36640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -130.19225553533323, + -233.86640799371537, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.19225553533323, + -233.86640799371537, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -131.69225553533323, + -231.26833178236205, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -133.19225553533323, + -228.67025557100874, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -208.0, + 90.3045 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-51-0_1886086990/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-51-0_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e867a04c3a653f18ecc715effdff4d3f7111f723 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-51-0_1886086990/pose.jsonl @@ -0,0 +1,392 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -241.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -238.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -235.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -232.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -229.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -226.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -223.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -220.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -217.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -217.7879828291672, + -128.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -215.18990661781388, + -126.63634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -212.59183040646056, + -125.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -209.99375419510724, + -123.63634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.39567798375393, + -122.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -204.7976017724006, + -120.63634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -202.1995255610473, + -119.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -199.60144934969398, + -117.63634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -197.00337313834066, + -116.13634740384657, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -197.00337313834066, + -116.13634740384657, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -195.50337313834066, + -113.53827119249326, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -194.00337313834066, + -110.94019498113994, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -192.50337313834066, + -108.34211876978662, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -191.00337313834066, + -105.7440425584333, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -189.50337313834066, + -103.14596634707999, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -188.00337313834066, + -100.54789013572667, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -186.50337313834066, + -97.94981392437336, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -185.00337313834066, + -95.35173771302004, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -183.50337313834066, + -92.75366150166673, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -182.00337313834066, + -90.15558529031341, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -76.0, + 58.0681 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-24_1671294892/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-24_1671294892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97b46d7b2bac034e9d8ed200b0a6eb3f5e75effe --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-24_1671294892/pose.jsonl @@ -0,0 +1,379 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -317.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -314.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -311.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -305.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -302.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -299.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -296.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -293.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -290.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -287.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -281.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -278.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.9918832295267, + -242.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -273.3938070181734, + -240.7056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -270.7957308068201, + -239.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -268.19765459546676, + -237.7056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -265.59957838411344, + -236.2056596478047, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -265.59957838411344, + -236.2056596478047, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -264.09957838411344, + -233.6075834364514, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -262.59957838411344, + -231.00950722509808, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -261.09957838411344, + -228.41143101374476, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -259.59957838411344, + -225.81335480239144, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -258.09957838411344, + -223.21527859103813, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -256.59957838411344, + -220.6172023796848, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -255.09957838411344, + -218.0191261683315, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-40_1344247686/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-40_1344247686/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6da075a3d4c2f201c506805de1b46ef37f0165c9 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-40_1344247686/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 91.00729079522037, + 133.09150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 93.60536700657369, + 131.59150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 96.203443217927, + 130.09150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 98.80151942928032, + 128.59150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 101.39959564063363, + 127.09150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 103.99767185198695, + 125.59150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 106.59574806334027, + 124.09150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 109.19382427469358, + 122.59150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 111.7919004860469, + 121.09150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 114.38997669740021, + 119.59150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 116.98805290875353, + 118.09150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 119.58612912010685, + 116.59150253229438, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 122.18420533146016, + 115.09150253229438, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 148.0, + 104.0, + 83.4429 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-50_1795519125/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-50_1795519125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4935d5e78f333da76cb8546a1360433616cba87 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-52-50_1795519125/pose.jsonl @@ -0,0 +1,249 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -298.2508115631824, + -165.96121566249982, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -295.2508115631824, + -165.96121566249982, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -292.2508115631824, + -165.96121566249982, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -289.2508115631824, + -165.96121566249982, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -289.2508115631824, + -165.96121566249982, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.2508115631824, + -165.96121566249982, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -287.7508115631824, + -168.55929187385314, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -286.2508115631824, + -171.15736808520646, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -286.2508115631824, + -171.15736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -283.6527353518291, + -172.65736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -281.0546591404758, + -174.15736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -278.4565829291225, + -175.65736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -275.85850671776916, + -177.15736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -273.26043050641584, + -178.65736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -270.6623542950625, + -180.15736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -268.0642780837092, + -181.65736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -265.4662018723559, + -183.15736808520646, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -262.8681256610026, + -184.65736808520646, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-53-3_661761152/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-53-3_661761152/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4386ec1d02e3b7527cb542f3a4b8e44b30b0091e --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-53-3_661761152/pose.jsonl @@ -0,0 +1,184 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -139.14734949815346, + -70.97495293439957, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -137.64734949815346, + -68.37687672304625, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -136.14734949815346, + -65.77880051169294, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -134.64734949815346, + -63.18072430033962, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -134.64734949815346, + -63.18072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -132.04927328680014, + -61.68072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -129.45119707544683, + -60.18072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -126.85312086409351, + -58.68072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -124.2550446527402, + -57.18072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -121.65696844138688, + -55.68072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -119.05889223003356, + -54.18072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -116.46081601868025, + -52.68072430033962, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -113.86273980732693, + -51.18072430033962, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -88.0, + -36.0, + 58.0691 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-54-42_1545032460/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-54-42_1545032460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bae7f086d992f25fdee262e9f5ccc4f4fa22b9e3 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-54-42_1545032460/pose.jsonl @@ -0,0 +1,340 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 20.698968400470193, + 140.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.29704461182351, + 141.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 25.895120823176825, + 143.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 28.49319703453014, + 144.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 31.091273245883457, + 146.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 33.68934945723677, + 147.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.28742566859009, + 149.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 38.885501879943405, + 150.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 41.48357809129672, + 152.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 44.08165430265004, + 153.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 46.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 46.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 49.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 52.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 55.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 58.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 61.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 64.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 67.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 70.67973051400335, + 155.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 73.27780672535667, + 156.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 75.87588293670998, + 158.28604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 78.4739591480633, + 159.78604386583856, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 81.07203535941662, + 161.28604386583856, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 96.0, + 164.0, + 59.4376 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-55-25_677870460/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-55-25_677870460/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39931b1278ba8a29fadd2dd42fc6cabdbe52d055 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-55-25_677870460/pose.jsonl @@ -0,0 +1,275 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 94.23375733691174, + -270.40628220071613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 92.73375733691174, + -267.8082059893628, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.23375733691174, + -265.2101297780095, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 89.73375733691174, + -262.6120535666562, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 88.23375733691174, + -260.01397735530287, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 86.73375733691174, + -257.41590114394955, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 85.23375733691174, + -254.81782493259624, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 83.73375733691174, + -252.21974872124292, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 82.23375733691174, + -249.6216725098896, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 80.73375733691174, + -247.0235962985363, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 79.23375733691174, + -244.42552008718297, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 77.73375733691174, + -241.82744387582966, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 76.23375733691174, + -239.22936766447634, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 74.73375733691174, + -236.63129145312303, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 73.23375733691174, + -234.0332152417697, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 71.73375733691174, + -231.4351390304164, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 70.23375733691174, + -228.83706281906308, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 70.23375733691174, + -228.83706281906308, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 67.63568112555842, + -227.33706281906308, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 65.0376049142051, + -225.83706281906308, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-56-21_332266748/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-56-21_332266748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80a5cf6f7979718f191e94a27694fc4aa47a9172 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-56-21_332266748/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 254.8263895518571, + -185.9539098576396, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 257.8263895518571, + -185.9539098576396, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 260.8263895518571, + -185.9539098576396, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 263.8263895518571, + -185.9539098576396, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 263.8263895518571, + -185.9539098576396, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 263.8263895518571, + -185.9539098576396, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 265.3263895518571, + -188.5519860689929, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 266.8263895518571, + -191.15006228034622, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 268.3263895518571, + -193.74813849169954, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 268.3263895518571, + -193.74813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 270.92446576321043, + -195.24813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 273.52254197456375, + -196.74813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 276.12061818591707, + -198.24813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 278.7186943972704, + -199.74813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 281.3167706086237, + -201.24813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 283.914846819977, + -202.74813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 286.51292303133033, + -204.24813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 289.11099924268365, + -205.74813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 291.70907545403696, + -207.24813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 294.3071516653903, + -208.74813849169954, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 296.9052278767436, + -210.24813849169954, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-57-20_655858699/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-57-20_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bc7fe80c5b89a492c47937d56b85e7562accea7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-57-20_655858699/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -182.00590315460977, + -243.91920237858955, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -183.50590315460977, + -246.51727858994286, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -185.00590315460977, + -249.11535480129618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -186.50590315460977, + -251.7134310126495, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -188.00590315460977, + -254.3115072240028, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -189.50590315460977, + -256.9095834353561, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -191.00590315460977, + -259.50765964670944, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -192.50590315460977, + -262.10573585806276, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -194.00590315460977, + -264.7038120694161, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -195.50590315460977, + -267.3018882807694, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -195.50590315460977, + -267.3018882807694, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -198.10397936596308, + -268.8018882807694, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -200.7020555773164, + -270.3018882807694, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -203.30013178866972, + -271.8018882807694, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -205.89820800002303, + -273.3018882807694, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -300.0, + 90.3047 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-57-9_820697697/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-57-9_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24fa2e61fdd396c9314cf927e60ee3895151b80b --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-57-9_820697697/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.9881341744615, + -288.8849732925522, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -92.4881341744615, + -291.48304950390553, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -90.9881341744615, + -294.08112571525885, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -89.4881341744615, + -296.67920192661217, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.9881341744615, + -299.2772781379655, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -87.9881341744615, + -299.2772781379655, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.39005796310819, + -300.7772781379655, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -36.0, + -352.0, + 73.6816 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-13_1186090428/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-13_1186090428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32c1d24cf5d332aec283cebe81c49c719b225789 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-13_1186090428/pose.jsonl @@ -0,0 +1,145 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -246.1093584423125, + -245.93435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -248.7074346536658, + -244.43435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -251.30551086501913, + -242.93435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -253.90358707637245, + -241.43435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -256.50166328772576, + -239.93435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -259.0997394990791, + -238.43435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -261.6978157104324, + -236.93435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -264.2958919217857, + -235.43435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -266.893968133139, + -233.93435145408523, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -269.49204434449234, + -232.43435145408523, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-51_1739000681/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-51_1739000681/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa45cf78477b5ffabe98b178ed1ab5ae328aecff --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-51_1739000681/pose.jsonl @@ -0,0 +1,54 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 5.631092957368345, + 237.4415059243791, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 4.131092957368346, + 234.84342971302578, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 2.631092957368347, + 232.24535350167247, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -44.0, + 184.0, + 102.868 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-5_1395132002/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-5_1395132002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a6f90f2b270775895d78c0d0f2c49454f0552074 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-58-5_1395132002/pose.jsonl @@ -0,0 +1,119 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 292.40478911345735, + -294.7587628207929, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 293.90478911345735, + -292.1606866094396, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.40478911345735, + -289.5626103980863, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 296.90478911345735, + -286.964534186733, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 298.40478911345735, + -284.36645797537966, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 298.40478911345735, + -284.36645797537966, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 298.40478911345735, + -281.36645797537966, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 298.40478911345735, + -278.36645797537966, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 320.0, + -224.0, + 90.3059 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-6-22_680466996/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-6-22_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..95ce89b38d0ae862fbb2da3c2250436d45ee23e8 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-6-22_680466996/pose.jsonl @@ -0,0 +1,106 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.56874703157402, + -183.1977060325505, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 105.9706708202207, + -184.6977060325505, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 103.37259460886739, + -186.1977060325505, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 103.37259460886739, + -186.1977060325505, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 100.37259460886739, + -186.1977060325505, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 97.37259460886739, + -186.1977060325505, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 94.37259460886739, + -186.1977060325505, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 48.0, + -200.0, + 93.7776 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-6-7_1504569917/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-6-7_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4b84e5d101f06b8f01ddbfce8a42b7f981e1a9eb --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-6-7_1504569917/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 99.52940789339172, + -230.8306881528889, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.02940789339172, + -228.2326119415356, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 102.52940789339172, + -225.63453573018228, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 102.52940789339172, + -225.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 105.12748410474504, + -224.13453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.72556031609835, + -222.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 110.32363652745167, + -221.13453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 112.92171273880498, + -219.63453573018228, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 112.92171273880498, + -219.63453573018228, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 112.92171273880498, + -219.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 112.92171273880498, + -216.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 112.92171273880498, + -213.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 112.92171273880498, + -210.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 112.92171273880498, + -207.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 112.92171273880498, + -204.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 112.92171273880498, + -201.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 112.92171273880498, + -198.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 112.92171273880498, + -195.63453573018228, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 112.92171273880498, + -195.63453573018228, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.42171273880498, + -193.03645951882896, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 115.92171273880498, + -190.43838330747565, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 117.42171273880498, + -187.84030709612233, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 118.92171273880498, + -185.24223088476901, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 120.42171273880498, + -182.6441546734157, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 121.92171273880498, + -180.04607846206238, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 123.42171273880498, + -177.44800225070907, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 140.0, + -144.0, + 90.3044 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-7-14_1359512183/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-7-14_1359512183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0542c88c0f282a130ed6bb3eec02935a6357e9f1 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-7-14_1359512183/pose.jsonl @@ -0,0 +1,171 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 285.04996335046405, + -63.79957209764309, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.04996335046405, + -63.79957209764309, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 291.04996335046405, + -63.79957209764309, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 294.04996335046405, + -63.79957209764309, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 294.04996335046405, + -63.79957209764309, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 294.04996335046405, + -63.79957209764309, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 295.54996335046405, + -66.39764830899641, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 297.04996335046405, + -68.99572452034973, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 298.54996335046405, + -71.59380073170304, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.54996335046405, + -71.59380073170304, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 298.54996335046405, + -74.59380073170304, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 298.54996335046405, + -77.59380073170304, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 352.0, + -136.0, + 90.3047 + ], + "shape": "test", + "dir": "left", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-7-35_1398295499/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-7-35_1398295499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6176151f724c48cbe3994f58c0b0bac3aebe05d7 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-7-35_1398295499/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -211.20196626379527, + -167.8017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -213.8000424751486, + -169.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -216.3981186865019, + -170.8017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -218.99619489785522, + -172.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -221.59427110920853, + -173.8017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -224.19234732056185, + -175.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -226.79042353191517, + -176.8017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -229.38849974326848, + -178.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -231.9865759546218, + -179.8017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -234.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -234.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -237.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -240.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -243.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -246.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -249.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -252.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -252.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -252.58465216597511, + -181.3017883396683, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -254.08465216597511, + -183.8998645510216, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -255.58465216597511, + -186.49794076237492, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -300.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "right", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-8-12_601385644/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-8-12_601385644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d8c694a7d7374c8665697354dd101d129bc7ea4 --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-8-12_601385644/pose.jsonl @@ -0,0 +1,288 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -161.3028941682635, + 25.821004826620168, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -159.8028941682635, + 28.419081037973484, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -159.8028941682635, + 28.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.8028941682635, + 31.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -159.8028941682635, + 34.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.8028941682635, + 37.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -159.8028941682635, + 40.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -159.8028941682635, + 43.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -159.8028941682635, + 46.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -159.8028941682635, + 49.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -159.8028941682635, + 52.419081037973484, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -159.8028941682635, + 52.419081037973484, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -158.3028941682635, + 55.0171572493268, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -156.8028941682635, + 57.615233460680116, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -155.3028941682635, + 60.21330967203343, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -153.8028941682635, + 62.81138588338675, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.3028941682635, + 65.40946209474006, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -150.8028941682635, + 68.00753830609338, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -149.3028941682635, + 70.6056145174467, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -147.8028941682635, + 73.20369072880001, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.3028941682635, + 75.80176694015333, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -136.0, + 104.0, + 94.1833 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-8-25_1172755590/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-8-25_1172755590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af03492948dd8e17f0b876d0357e5cf74e7c5aca --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-8-25_1172755590/pose.jsonl @@ -0,0 +1,210 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -161.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -158.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -155.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -152.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -149.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -146.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -143.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -140.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -140.35198213343446, + -169.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -137.75390592208115, + -170.86448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -135.15582971072783, + -172.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -132.5577534993745, + -173.86448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -129.9596772880212, + -175.36448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -127.36160107666788, + -176.86448703763145, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -124.76352486531457, + -178.36448703763145, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -72.0, + -188.0, + 68.5434 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-10_1272469786/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-10_1272469786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02fa75419480b0403c4367f0cc69b72038edaafa --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-10_1272469786/pose.jsonl @@ -0,0 +1,223 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -209.83566658347354, + -239.79307756910194, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -208.33566658347354, + -242.39115378045526, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -206.83566658347354, + -244.98922999180857, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -205.33566658347354, + -247.5873062031619, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -203.83566658347354, + -250.1853824145152, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -202.33566658347354, + -252.78345862586852, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -200.83566658347354, + -255.38153483722184, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -199.33566658347354, + -257.9796110485752, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -197.83566658347354, + -260.5776872599285, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.33566658347354, + -263.1757634712818, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.83566658347354, + -265.7738396826351, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -193.33566658347354, + -268.37191589398844, + 72.24787185243571 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -193.33566658347354, + -268.37191589398844, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -190.73759037212022, + -269.87191589398844, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.1395141607669, + -271.37191589398844, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -185.5414379494136, + -272.87191589398844, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -300.0, + 151.838 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-33_722308542/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-33_722308542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f0baeb70ed6131969b1eb8a106aa37b4dcdd318b --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-33_722308542/pose.jsonl @@ -0,0 +1,353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -199.0423373090557, + -63.25036674372302, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -197.5423373090557, + -65.84844295507634, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -196.0423373090557, + -68.44651916642965, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -194.5423373090557, + -71.04459537778297, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -193.0423373090557, + -73.64267158913628, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -191.5423373090557, + -76.2407478004896, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -190.0423373090557, + -78.83882401184292, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -188.5423373090557, + -81.43690022319623, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.0423373090557, + -84.03497643454955, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -185.5423373090557, + -86.63305264590286, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -184.0423373090557, + -89.23112885725618, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -182.5423373090557, + -91.8292050686095, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -181.0423373090557, + -94.42728127996281, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -179.5423373090557, + -97.02535749131613, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -178.0423373090557, + -99.62343370266944, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -176.5423373090557, + -102.22150991402276, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -175.0423373090557, + -104.81958612537608, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -173.5423373090557, + -107.41766233672939, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -172.0423373090557, + -110.01573854808271, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.5423373090557, + -112.61381475943602, + 72.24787185243571 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -170.5423373090557, + -112.61381475943602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -170.5423373090557, + -115.61381475943602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -170.5423373090557, + -118.61381475943602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -170.5423373090557, + -121.61381475943602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -170.5423373090557, + -124.61381475943602, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -170.5423373090557, + -127.61381475943602, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -164.0, + -144.0, + 64.9099 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-49_1820388464/pose.jsonl b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-49_1820388464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6550d3bc6cf003d129757c3d91ed5b63c429062a --- /dev/null +++ b/Image/env_airsim_23/astar_data/medium_short/2025-1-9_12-9-49_1820388464/pose.jsonl @@ -0,0 +1,158 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -263.08055378656235, + -265.2821088610621, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -261.58055378656235, + -262.6840326497088, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -260.08055378656235, + -260.0859564383555, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -258.58055378656235, + -257.48788022700217, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -257.08055378656235, + -254.88980401564885, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -255.58055378656235, + -252.29172780429553, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.08055378656235, + -249.69365159294222, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -252.58055378656235, + -247.0955753815889, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -251.08055378656235, + -244.49749917023559, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -249.58055378656235, + -241.89942295888227, + 72.24787185243571 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -248.08055378656235, + -239.30134674752895, + 72.24787185243571 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -228.0, + -208.0, + 90.3046 + ], + "shape": "test", + "dir": "center", + "size": "test", + "type": "building" + } +}